00001
00002 #ifndef WALK_MSGS_MESSAGE_WALKPATH_H
00003 #define WALK_MSGS_MESSAGE_WALKPATH_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/Path.h"
00018 #include "nav_msgs/Path.h"
00019 #include "walk_msgs/PathPoint3d.h"
00020 #include "walk_msgs/PathPoint2d.h"
00021
00022 namespace walk_msgs
00023 {
00024 template <class ContainerAllocator>
00025 struct WalkPath_ {
00026 typedef WalkPath_<ContainerAllocator> Type;
00027
00028 WalkPath_()
00029 : left_foot()
00030 , right_foot()
00031 , center_of_mass()
00032 , zmp()
00033 {
00034 }
00035
00036 WalkPath_(const ContainerAllocator& _alloc)
00037 : left_foot(_alloc)
00038 , right_foot(_alloc)
00039 , center_of_mass(_alloc)
00040 , zmp(_alloc)
00041 {
00042 }
00043
00044 typedef ::nav_msgs::Path_<ContainerAllocator> _left_foot_type;
00045 ::nav_msgs::Path_<ContainerAllocator> left_foot;
00046
00047 typedef ::nav_msgs::Path_<ContainerAllocator> _right_foot_type;
00048 ::nav_msgs::Path_<ContainerAllocator> right_foot;
00049
00050 typedef ::walk_msgs::PathPoint3d_<ContainerAllocator> _center_of_mass_type;
00051 ::walk_msgs::PathPoint3d_<ContainerAllocator> center_of_mass;
00052
00053 typedef ::walk_msgs::PathPoint2d_<ContainerAllocator> _zmp_type;
00054 ::walk_msgs::PathPoint2d_<ContainerAllocator> zmp;
00055
00056
00057 private:
00058 static const char* __s_getDataType_() { return "walk_msgs/WalkPath"; }
00059 public:
00060 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00061
00062 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00063
00064 private:
00065 static const char* __s_getMD5Sum_() { return "d0a0a99ccf67829c6bd2a9f0499ae76e"; }
00066 public:
00067 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00068
00069 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00070
00071 private:
00072 static const char* __s_getMessageDefinition_() { return "nav_msgs/Path left_foot\n\
00073 nav_msgs/Path right_foot\n\
00074 walk_msgs/PathPoint3d center_of_mass\n\
00075 walk_msgs/PathPoint2d zmp\n\
00076 \n\
00077 ================================================================================\n\
00078 MSG: nav_msgs/Path\n\
00079 #An array of poses that represents a Path for a robot to follow\n\
00080 Header header\n\
00081 geometry_msgs/PoseStamped[] poses\n\
00082 \n\
00083 ================================================================================\n\
00084 MSG: std_msgs/Header\n\
00085 # Standard metadata for higher-level stamped data types.\n\
00086 # This is generally used to communicate timestamped data \n\
00087 # in a particular coordinate frame.\n\
00088 # \n\
00089 # sequence ID: consecutively increasing ID \n\
00090 uint32 seq\n\
00091 #Two-integer timestamp that is expressed as:\n\
00092 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00093 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00094 # time-handling sugar is provided by the client library\n\
00095 time stamp\n\
00096 #Frame this data is associated with\n\
00097 # 0: no frame\n\
00098 # 1: global frame\n\
00099 string frame_id\n\
00100 \n\
00101 ================================================================================\n\
00102 MSG: geometry_msgs/PoseStamped\n\
00103 # A Pose with reference coordinate frame and timestamp\n\
00104 Header header\n\
00105 Pose pose\n\
00106 \n\
00107 ================================================================================\n\
00108 MSG: geometry_msgs/Pose\n\
00109 # A representation of pose in free space, composed of postion and orientation. \n\
00110 Point position\n\
00111 Quaternion orientation\n\
00112 \n\
00113 ================================================================================\n\
00114 MSG: geometry_msgs/Point\n\
00115 # This contains the position of a point in free space\n\
00116 float64 x\n\
00117 float64 y\n\
00118 float64 z\n\
00119 \n\
00120 ================================================================================\n\
00121 MSG: geometry_msgs/Quaternion\n\
00122 # This represents an orientation in free space in quaternion form.\n\
00123 \n\
00124 float64 x\n\
00125 float64 y\n\
00126 float64 z\n\
00127 float64 w\n\
00128 \n\
00129 ================================================================================\n\
00130 MSG: walk_msgs/PathPoint3d\n\
00131 Header header\n\
00132 geometry_msgs/PointStamped[] points\n\
00133 \n\
00134 ================================================================================\n\
00135 MSG: geometry_msgs/PointStamped\n\
00136 # This represents a Point with reference coordinate frame and timestamp\n\
00137 Header header\n\
00138 Point point\n\
00139 \n\
00140 ================================================================================\n\
00141 MSG: walk_msgs/PathPoint2d\n\
00142 Header header\n\
00143 walk_msgs/Point2dStamped[] points\n\
00144 \n\
00145 ================================================================================\n\
00146 MSG: walk_msgs/Point2dStamped\n\
00147 Header header\n\
00148 Point2d point\n\
00149 \n\
00150 ================================================================================\n\
00151 MSG: walk_msgs/Point2d\n\
00152 float64 x\n\
00153 float64 y\n\
00154 \n\
00155 "; }
00156 public:
00157 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00158
00159 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00160
00161 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00162 {
00163 ros::serialization::OStream stream(write_ptr, 1000000000);
00164 ros::serialization::serialize(stream, left_foot);
00165 ros::serialization::serialize(stream, right_foot);
00166 ros::serialization::serialize(stream, center_of_mass);
00167 ros::serialization::serialize(stream, zmp);
00168 return stream.getData();
00169 }
00170
00171 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00172 {
00173 ros::serialization::IStream stream(read_ptr, 1000000000);
00174 ros::serialization::deserialize(stream, left_foot);
00175 ros::serialization::deserialize(stream, right_foot);
00176 ros::serialization::deserialize(stream, center_of_mass);
00177 ros::serialization::deserialize(stream, zmp);
00178 return stream.getData();
00179 }
00180
00181 ROS_DEPRECATED virtual uint32_t serializationLength() const
00182 {
00183 uint32_t size = 0;
00184 size += ros::serialization::serializationLength(left_foot);
00185 size += ros::serialization::serializationLength(right_foot);
00186 size += ros::serialization::serializationLength(center_of_mass);
00187 size += ros::serialization::serializationLength(zmp);
00188 return size;
00189 }
00190
00191 typedef boost::shared_ptr< ::walk_msgs::WalkPath_<ContainerAllocator> > Ptr;
00192 typedef boost::shared_ptr< ::walk_msgs::WalkPath_<ContainerAllocator> const> ConstPtr;
00193 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00194 };
00195 typedef ::walk_msgs::WalkPath_<std::allocator<void> > WalkPath;
00196
00197 typedef boost::shared_ptr< ::walk_msgs::WalkPath> WalkPathPtr;
00198 typedef boost::shared_ptr< ::walk_msgs::WalkPath const> WalkPathConstPtr;
00199
00200
00201 template<typename ContainerAllocator>
00202 std::ostream& operator<<(std::ostream& s, const ::walk_msgs::WalkPath_<ContainerAllocator> & v)
00203 {
00204 ros::message_operations::Printer< ::walk_msgs::WalkPath_<ContainerAllocator> >::stream(s, "", v);
00205 return s;}
00206
00207 }
00208
00209 namespace ros
00210 {
00211 namespace message_traits
00212 {
00213 template<class ContainerAllocator> struct IsMessage< ::walk_msgs::WalkPath_<ContainerAllocator> > : public TrueType {};
00214 template<class ContainerAllocator> struct IsMessage< ::walk_msgs::WalkPath_<ContainerAllocator> const> : public TrueType {};
00215 template<class ContainerAllocator>
00216 struct MD5Sum< ::walk_msgs::WalkPath_<ContainerAllocator> > {
00217 static const char* value()
00218 {
00219 return "d0a0a99ccf67829c6bd2a9f0499ae76e";
00220 }
00221
00222 static const char* value(const ::walk_msgs::WalkPath_<ContainerAllocator> &) { return value(); }
00223 static const uint64_t static_value1 = 0xd0a0a99ccf67829cULL;
00224 static const uint64_t static_value2 = 0x6bd2a9f0499ae76eULL;
00225 };
00226
00227 template<class ContainerAllocator>
00228 struct DataType< ::walk_msgs::WalkPath_<ContainerAllocator> > {
00229 static const char* value()
00230 {
00231 return "walk_msgs/WalkPath";
00232 }
00233
00234 static const char* value(const ::walk_msgs::WalkPath_<ContainerAllocator> &) { return value(); }
00235 };
00236
00237 template<class ContainerAllocator>
00238 struct Definition< ::walk_msgs::WalkPath_<ContainerAllocator> > {
00239 static const char* value()
00240 {
00241 return "nav_msgs/Path left_foot\n\
00242 nav_msgs/Path right_foot\n\
00243 walk_msgs/PathPoint3d center_of_mass\n\
00244 walk_msgs/PathPoint2d zmp\n\
00245 \n\
00246 ================================================================================\n\
00247 MSG: nav_msgs/Path\n\
00248 #An array of poses that represents a Path for a robot to follow\n\
00249 Header header\n\
00250 geometry_msgs/PoseStamped[] poses\n\
00251 \n\
00252 ================================================================================\n\
00253 MSG: std_msgs/Header\n\
00254 # Standard metadata for higher-level stamped data types.\n\
00255 # This is generally used to communicate timestamped data \n\
00256 # in a particular coordinate frame.\n\
00257 # \n\
00258 # sequence ID: consecutively increasing ID \n\
00259 uint32 seq\n\
00260 #Two-integer timestamp that is expressed as:\n\
00261 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00262 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00263 # time-handling sugar is provided by the client library\n\
00264 time stamp\n\
00265 #Frame this data is associated with\n\
00266 # 0: no frame\n\
00267 # 1: global frame\n\
00268 string frame_id\n\
00269 \n\
00270 ================================================================================\n\
00271 MSG: geometry_msgs/PoseStamped\n\
00272 # A Pose with reference coordinate frame and timestamp\n\
00273 Header header\n\
00274 Pose pose\n\
00275 \n\
00276 ================================================================================\n\
00277 MSG: geometry_msgs/Pose\n\
00278 # A representation of pose in free space, composed of postion and orientation. \n\
00279 Point position\n\
00280 Quaternion orientation\n\
00281 \n\
00282 ================================================================================\n\
00283 MSG: geometry_msgs/Point\n\
00284 # This contains the position of a point in free space\n\
00285 float64 x\n\
00286 float64 y\n\
00287 float64 z\n\
00288 \n\
00289 ================================================================================\n\
00290 MSG: geometry_msgs/Quaternion\n\
00291 # This represents an orientation in free space in quaternion form.\n\
00292 \n\
00293 float64 x\n\
00294 float64 y\n\
00295 float64 z\n\
00296 float64 w\n\
00297 \n\
00298 ================================================================================\n\
00299 MSG: walk_msgs/PathPoint3d\n\
00300 Header header\n\
00301 geometry_msgs/PointStamped[] points\n\
00302 \n\
00303 ================================================================================\n\
00304 MSG: geometry_msgs/PointStamped\n\
00305 # This represents a Point with reference coordinate frame and timestamp\n\
00306 Header header\n\
00307 Point point\n\
00308 \n\
00309 ================================================================================\n\
00310 MSG: walk_msgs/PathPoint2d\n\
00311 Header header\n\
00312 walk_msgs/Point2dStamped[] points\n\
00313 \n\
00314 ================================================================================\n\
00315 MSG: walk_msgs/Point2dStamped\n\
00316 Header header\n\
00317 Point2d point\n\
00318 \n\
00319 ================================================================================\n\
00320 MSG: walk_msgs/Point2d\n\
00321 float64 x\n\
00322 float64 y\n\
00323 \n\
00324 ";
00325 }
00326
00327 static const char* value(const ::walk_msgs::WalkPath_<ContainerAllocator> &) { return value(); }
00328 };
00329
00330 }
00331 }
00332
00333 namespace ros
00334 {
00335 namespace serialization
00336 {
00337
00338 template<class ContainerAllocator> struct Serializer< ::walk_msgs::WalkPath_<ContainerAllocator> >
00339 {
00340 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00341 {
00342 stream.next(m.left_foot);
00343 stream.next(m.right_foot);
00344 stream.next(m.center_of_mass);
00345 stream.next(m.zmp);
00346 }
00347
00348 ROS_DECLARE_ALLINONE_SERIALIZER;
00349 };
00350 }
00351 }
00352
00353 namespace ros
00354 {
00355 namespace message_operations
00356 {
00357
00358 template<class ContainerAllocator>
00359 struct Printer< ::walk_msgs::WalkPath_<ContainerAllocator> >
00360 {
00361 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::walk_msgs::WalkPath_<ContainerAllocator> & v)
00362 {
00363 s << indent << "left_foot: ";
00364 s << std::endl;
00365 Printer< ::nav_msgs::Path_<ContainerAllocator> >::stream(s, indent + " ", v.left_foot);
00366 s << indent << "right_foot: ";
00367 s << std::endl;
00368 Printer< ::nav_msgs::Path_<ContainerAllocator> >::stream(s, indent + " ", v.right_foot);
00369 s << indent << "center_of_mass: ";
00370 s << std::endl;
00371 Printer< ::walk_msgs::PathPoint3d_<ContainerAllocator> >::stream(s, indent + " ", v.center_of_mass);
00372 s << indent << "zmp: ";
00373 s << std::endl;
00374 Printer< ::walk_msgs::PathPoint2d_<ContainerAllocator> >::stream(s, indent + " ", v.zmp);
00375 }
00376 };
00377
00378
00379 }
00380 }
00381
00382 #endif // WALK_MSGS_MESSAGE_WALKPATH_H
00383
