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00002 #ifndef ART_MSGS_MESSAGE_CARDRIVESTAMPED_H
00003 #define ART_MSGS_MESSAGE_CARDRIVESTAMPED_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 "art_msgs/CarDrive.h"
00019
00020 namespace art_msgs
00021 {
00022 template <class ContainerAllocator>
00023 struct CarDriveStamped_ {
00024 typedef CarDriveStamped_<ContainerAllocator> Type;
00025
00026 CarDriveStamped_()
00027 : header()
00028 , control()
00029 {
00030 }
00031
00032 CarDriveStamped_(const ContainerAllocator& _alloc)
00033 : header(_alloc)
00034 , control(_alloc)
00035 {
00036 }
00037
00038 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00039 ::std_msgs::Header_<ContainerAllocator> header;
00040
00041 typedef ::art_msgs::CarDrive_<ContainerAllocator> _control_type;
00042 ::art_msgs::CarDrive_<ContainerAllocator> control;
00043
00044
00045 typedef boost::shared_ptr< ::art_msgs::CarDriveStamped_<ContainerAllocator> > Ptr;
00046 typedef boost::shared_ptr< ::art_msgs::CarDriveStamped_<ContainerAllocator> const> ConstPtr;
00047 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00048 };
00049 typedef ::art_msgs::CarDriveStamped_<std::allocator<void> > CarDriveStamped;
00050
00051 typedef boost::shared_ptr< ::art_msgs::CarDriveStamped> CarDriveStampedPtr;
00052 typedef boost::shared_ptr< ::art_msgs::CarDriveStamped const> CarDriveStampedConstPtr;
00053
00054
00055 template<typename ContainerAllocator>
00056 std::ostream& operator<<(std::ostream& s, const ::art_msgs::CarDriveStamped_<ContainerAllocator> & v)
00057 {
00058 ros::message_operations::Printer< ::art_msgs::CarDriveStamped_<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< ::art_msgs::CarDriveStamped_<ContainerAllocator> > : public TrueType {};
00068 template<class ContainerAllocator> struct IsMessage< ::art_msgs::CarDriveStamped_<ContainerAllocator> const> : public TrueType {};
00069 template<class ContainerAllocator>
00070 struct MD5Sum< ::art_msgs::CarDriveStamped_<ContainerAllocator> > {
00071 static const char* value()
00072 {
00073 return "d243ac5e38754a52c8788d4d37db7a05";
00074 }
00075
00076 static const char* value(const ::art_msgs::CarDriveStamped_<ContainerAllocator> &) { return value(); }
00077 static const uint64_t static_value1 = 0xd243ac5e38754a52ULL;
00078 static const uint64_t static_value2 = 0xc8788d4d37db7a05ULL;
00079 };
00080
00081 template<class ContainerAllocator>
00082 struct DataType< ::art_msgs::CarDriveStamped_<ContainerAllocator> > {
00083 static const char* value()
00084 {
00085 return "art_msgs/CarDriveStamped";
00086 }
00087
00088 static const char* value(const ::art_msgs::CarDriveStamped_<ContainerAllocator> &) { return value(); }
00089 };
00090
00091 template<class ContainerAllocator>
00092 struct Definition< ::art_msgs::CarDriveStamped_<ContainerAllocator> > {
00093 static const char* value()
00094 {
00095 return "# CarDrive message with timestamp.\n\
00096 # $Id: CarDriveStamped.msg 1539 2011-05-09 04:09:20Z jack.oquin $\n\
00097 \n\
00098 Header header\n\
00099 CarDrive control\n\
00100 \n\
00101 ================================================================================\n\
00102 MSG: std_msgs/Header\n\
00103 # Standard metadata for higher-level stamped data types.\n\
00104 # This is generally used to communicate timestamped data \n\
00105 # in a particular coordinate frame.\n\
00106 # \n\
00107 # sequence ID: consecutively increasing ID \n\
00108 uint32 seq\n\
00109 #Two-integer timestamp that is expressed as:\n\
00110 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00111 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00112 # time-handling sugar is provided by the client library\n\
00113 time stamp\n\
00114 #Frame this data is associated with\n\
00115 # 0: no frame\n\
00116 # 1: global frame\n\
00117 string frame_id\n\
00118 \n\
00119 ================================================================================\n\
00120 MSG: art_msgs/CarDrive\n\
00121 # Driving command for a car-like vehicle using Ackermann steering.\n\
00122 # $Id: CarDrive.msg 1539 2011-05-09 04:09:20Z jack.oquin $\n\
00123 \n\
00124 # Drive at requested speed, acceleration and jerk (the 1st, 2nd and\n\
00125 # 3rd derivatives of position). All are non-negative scalars. \n\
00126 #\n\
00127 # Speed is defined as the scalar magnitude of the velocity\n\
00128 # vector. Direction (forwards or backwards) is determined by the gear.\n\
00129 #\n\
00130 # Zero acceleration means change speed as quickly as\n\
00131 # possible. Positive acceleration may include deceleration as needed\n\
00132 # to match the desired speed. It represents a desired rate and also a\n\
00133 # limit not to exceed.\n\
00134 #\n\
00135 # Zero jerk means change acceleration as quickly as possible. Positive\n\
00136 # jerk describes the desired rate of acceleration change in both\n\
00137 # directions (positive and negative).\n\
00138 #\n\
00139 float32 speed # magnitude of velocity vector (m/s)\n\
00140 float32 acceleration # desired acceleration (m/s^2)\n\
00141 float32 jerk # desired jerk (m/s^3)\n\
00142 \n\
00143 # Assumes Ackermann (front-wheel) steering. This angle is the average\n\
00144 # yaw of the two front wheels in the vehicle frame of reference\n\
00145 # (positive left), ignoring their slightly differing angles as if it\n\
00146 # were a tricycle. This is *not* the angle of the steering wheel\n\
00147 # inside the passenger compartment.\n\
00148 #\n\
00149 float32 steering_angle # steering angle (radians)\n\
00150 \n\
00151 Gear gear # requested gear (no change if Naught)\n\
00152 PilotBehavior behavior # requested pilot behavior\n\
00153 \n\
00154 ================================================================================\n\
00155 MSG: art_msgs/Gear\n\
00156 # ART vehicle transmission gear numbers\n\
00157 #\n\
00158 # Used by several different messages.\n\
00159 \n\
00160 # $Id: Gear.msg 1539 2011-05-09 04:09:20Z jack.oquin $\n\
00161 \n\
00162 # Gear numbers. \n\
00163 #\n\
00164 # Naught means: reset all Shifter relays; no change of CarDrive gear.\n\
00165 uint8 Naught = 0\n\
00166 uint8 Park = 1\n\
00167 uint8 Reverse = 2\n\
00168 uint8 Neutral = 3\n\
00169 uint8 Drive = 4\n\
00170 uint8 N_gears = 5\n\
00171 \n\
00172 uint8 value # requested or reported gear number\n\
00173 \n\
00174 ================================================================================\n\
00175 MSG: art_msgs/PilotBehavior\n\
00176 # ART autonomous vehicle pilot node behaviors.\n\
00177 #\n\
00178 # Normally, the pilot node does Run, continually sending commands to\n\
00179 # the servo device actuators and monitoring their state. With Pause,\n\
00180 # the pilot becomes passive, allowing a learning algorithm or human\n\
00181 # controller direct access to those devices. In the Off state,\n\
00182 # various devices are shut down: the transmission in Park, the brake\n\
00183 # released, the throttle at idle. The engine is not turned off, but\n\
00184 # it could be.\n\
00185 \n\
00186 # $Id: PilotBehavior.msg 1539 2011-05-09 04:09:20Z jack.oquin $\n\
00187 \n\
00188 # Behavior value\n\
00189 uint8 value\n\
00190 \n\
00191 # Behavior numbers:\n\
00192 uint8 Run = 0 # normal driving\n\
00193 uint8 Pause = 1 # stop issuing servo commands\n\
00194 uint8 Off = 2 # turn off devices\n\
00195 uint8 N_behaviors = 3\n\
00196 \n\
00197 ";
00198 }
00199
00200 static const char* value(const ::art_msgs::CarDriveStamped_<ContainerAllocator> &) { return value(); }
00201 };
00202
00203 template<class ContainerAllocator> struct HasHeader< ::art_msgs::CarDriveStamped_<ContainerAllocator> > : public TrueType {};
00204 template<class ContainerAllocator> struct HasHeader< const ::art_msgs::CarDriveStamped_<ContainerAllocator> > : public TrueType {};
00205 }
00206 }
00207
00208 namespace ros
00209 {
00210 namespace serialization
00211 {
00212
00213 template<class ContainerAllocator> struct Serializer< ::art_msgs::CarDriveStamped_<ContainerAllocator> >
00214 {
00215 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00216 {
00217 stream.next(m.header);
00218 stream.next(m.control);
00219 }
00220
00221 ROS_DECLARE_ALLINONE_SERIALIZER;
00222 };
00223 }
00224 }
00225
00226 namespace ros
00227 {
00228 namespace message_operations
00229 {
00230
00231 template<class ContainerAllocator>
00232 struct Printer< ::art_msgs::CarDriveStamped_<ContainerAllocator> >
00233 {
00234 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::art_msgs::CarDriveStamped_<ContainerAllocator> & v)
00235 {
00236 s << indent << "header: ";
00237 s << std::endl;
00238 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00239 s << indent << "control: ";
00240 s << std::endl;
00241 Printer< ::art_msgs::CarDrive_<ContainerAllocator> >::stream(s, indent + " ", v.control);
00242 }
00243 };
00244
00245
00246 }
00247 }
00248
00249 #endif // ART_MSGS_MESSAGE_CARDRIVESTAMPED_H
00250