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00002 #ifndef ARM_NAVIGATION_MSGS_MESSAGE_WORKSPACEPARAMETERS_H
00003 #define ARM_NAVIGATION_MSGS_MESSAGE_WORKSPACEPARAMETERS_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 "arm_navigation_msgs/Shape.h"
00018 #include "geometry_msgs/PoseStamped.h"
00019
00020 namespace arm_navigation_msgs
00021 {
00022 template <class ContainerAllocator>
00023 struct WorkspaceParameters_ {
00024 typedef WorkspaceParameters_<ContainerAllocator> Type;
00025
00026 WorkspaceParameters_()
00027 : workspace_region_shape()
00028 , workspace_region_pose()
00029 {
00030 }
00031
00032 WorkspaceParameters_(const ContainerAllocator& _alloc)
00033 : workspace_region_shape(_alloc)
00034 , workspace_region_pose(_alloc)
00035 {
00036 }
00037
00038 typedef ::arm_navigation_msgs::Shape_<ContainerAllocator> _workspace_region_shape_type;
00039 ::arm_navigation_msgs::Shape_<ContainerAllocator> workspace_region_shape;
00040
00041 typedef ::geometry_msgs::PoseStamped_<ContainerAllocator> _workspace_region_pose_type;
00042 ::geometry_msgs::PoseStamped_<ContainerAllocator> workspace_region_pose;
00043
00044
00045 typedef boost::shared_ptr< ::arm_navigation_msgs::WorkspaceParameters_<ContainerAllocator> > Ptr;
00046 typedef boost::shared_ptr< ::arm_navigation_msgs::WorkspaceParameters_<ContainerAllocator> const> ConstPtr;
00047 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00048 };
00049 typedef ::arm_navigation_msgs::WorkspaceParameters_<std::allocator<void> > WorkspaceParameters;
00050
00051 typedef boost::shared_ptr< ::arm_navigation_msgs::WorkspaceParameters> WorkspaceParametersPtr;
00052 typedef boost::shared_ptr< ::arm_navigation_msgs::WorkspaceParameters const> WorkspaceParametersConstPtr;
00053
00054
00055 template<typename ContainerAllocator>
00056 std::ostream& operator<<(std::ostream& s, const ::arm_navigation_msgs::WorkspaceParameters_<ContainerAllocator> & v)
00057 {
00058 ros::message_operations::Printer< ::arm_navigation_msgs::WorkspaceParameters_<ContainerAllocator> >::stream(s, "", v);
00059 return s;}
00060
00061 }
00062
00063 namespace ros
00064 {
00065 namespace message_traits
00066 {
00067 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::WorkspaceParameters_<ContainerAllocator> > : public TrueType {};
00068 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::WorkspaceParameters_<ContainerAllocator> const> : public TrueType {};
00069 template<class ContainerAllocator>
00070 struct MD5Sum< ::arm_navigation_msgs::WorkspaceParameters_<ContainerAllocator> > {
00071 static const char* value()
00072 {
00073 return "1487490edff0df276863abf2cf221de5";
00074 }
00075
00076 static const char* value(const ::arm_navigation_msgs::WorkspaceParameters_<ContainerAllocator> &) { return value(); }
00077 static const uint64_t static_value1 = 0x1487490edff0df27ULL;
00078 static const uint64_t static_value2 = 0x6863abf2cf221de5ULL;
00079 };
00080
00081 template<class ContainerAllocator>
00082 struct DataType< ::arm_navigation_msgs::WorkspaceParameters_<ContainerAllocator> > {
00083 static const char* value()
00084 {
00085 return "arm_navigation_msgs/WorkspaceParameters";
00086 }
00087
00088 static const char* value(const ::arm_navigation_msgs::WorkspaceParameters_<ContainerAllocator> &) { return value(); }
00089 };
00090
00091 template<class ContainerAllocator>
00092 struct Definition< ::arm_navigation_msgs::WorkspaceParameters_<ContainerAllocator> > {
00093 static const char* value()
00094 {
00095 return "# This message contains a set of parameters useful in\n\
00096 # setting up the workspace for planning\n\
00097 arm_navigation_msgs/Shape workspace_region_shape\n\
00098 geometry_msgs/PoseStamped workspace_region_pose\n\
00099 \n\
00100 \n\
00101 ================================================================================\n\
00102 MSG: arm_navigation_msgs/Shape\n\
00103 byte SPHERE=0\n\
00104 byte BOX=1\n\
00105 byte CYLINDER=2\n\
00106 byte MESH=3\n\
00107 \n\
00108 byte type\n\
00109 \n\
00110 \n\
00111 #### define sphere, box, cylinder ####\n\
00112 # the origin of each shape is considered at the shape's center\n\
00113 \n\
00114 # for sphere\n\
00115 # radius := dimensions[0]\n\
00116 \n\
00117 # for cylinder\n\
00118 # radius := dimensions[0]\n\
00119 # length := dimensions[1]\n\
00120 # the length is along the Z axis\n\
00121 \n\
00122 # for box\n\
00123 # size_x := dimensions[0]\n\
00124 # size_y := dimensions[1]\n\
00125 # size_z := dimensions[2]\n\
00126 float64[] dimensions\n\
00127 \n\
00128 \n\
00129 #### define mesh ####\n\
00130 \n\
00131 # list of triangles; triangle k is defined by tre vertices located\n\
00132 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00133 int32[] triangles\n\
00134 geometry_msgs/Point[] vertices\n\
00135 \n\
00136 ================================================================================\n\
00137 MSG: geometry_msgs/Point\n\
00138 # This contains the position of a point in free space\n\
00139 float64 x\n\
00140 float64 y\n\
00141 float64 z\n\
00142 \n\
00143 ================================================================================\n\
00144 MSG: geometry_msgs/PoseStamped\n\
00145 # A Pose with reference coordinate frame and timestamp\n\
00146 Header header\n\
00147 Pose pose\n\
00148 \n\
00149 ================================================================================\n\
00150 MSG: std_msgs/Header\n\
00151 # Standard metadata for higher-level stamped data types.\n\
00152 # This is generally used to communicate timestamped data \n\
00153 # in a particular coordinate frame.\n\
00154 # \n\
00155 # sequence ID: consecutively increasing ID \n\
00156 uint32 seq\n\
00157 #Two-integer timestamp that is expressed as:\n\
00158 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00159 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00160 # time-handling sugar is provided by the client library\n\
00161 time stamp\n\
00162 #Frame this data is associated with\n\
00163 # 0: no frame\n\
00164 # 1: global frame\n\
00165 string frame_id\n\
00166 \n\
00167 ================================================================================\n\
00168 MSG: geometry_msgs/Pose\n\
00169 # A representation of pose in free space, composed of postion and orientation. \n\
00170 Point position\n\
00171 Quaternion orientation\n\
00172 \n\
00173 ================================================================================\n\
00174 MSG: geometry_msgs/Quaternion\n\
00175 # This represents an orientation in free space in quaternion form.\n\
00176 \n\
00177 float64 x\n\
00178 float64 y\n\
00179 float64 z\n\
00180 float64 w\n\
00181 \n\
00182 ";
00183 }
00184
00185 static const char* value(const ::arm_navigation_msgs::WorkspaceParameters_<ContainerAllocator> &) { return value(); }
00186 };
00187
00188 }
00189 }
00190
00191 namespace ros
00192 {
00193 namespace serialization
00194 {
00195
00196 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::WorkspaceParameters_<ContainerAllocator> >
00197 {
00198 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00199 {
00200 stream.next(m.workspace_region_shape);
00201 stream.next(m.workspace_region_pose);
00202 }
00203
00204 ROS_DECLARE_ALLINONE_SERIALIZER;
00205 };
00206 }
00207 }
00208
00209 namespace ros
00210 {
00211 namespace message_operations
00212 {
00213
00214 template<class ContainerAllocator>
00215 struct Printer< ::arm_navigation_msgs::WorkspaceParameters_<ContainerAllocator> >
00216 {
00217 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::arm_navigation_msgs::WorkspaceParameters_<ContainerAllocator> & v)
00218 {
00219 s << indent << "workspace_region_shape: ";
00220 s << std::endl;
00221 Printer< ::arm_navigation_msgs::Shape_<ContainerAllocator> >::stream(s, indent + " ", v.workspace_region_shape);
00222 s << indent << "workspace_region_pose: ";
00223 s << std::endl;
00224 Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + " ", v.workspace_region_pose);
00225 }
00226 };
00227
00228
00229 }
00230 }
00231
00232 #endif // ARM_NAVIGATION_MSGS_MESSAGE_WORKSPACEPARAMETERS_H
00233