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00002 #ifndef ART_MSGS_MESSAGE_NAVIGATORCOMMAND_H
00003 #define ART_MSGS_MESSAGE_NAVIGATORCOMMAND_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/Order.h"
00019
00020 namespace art_msgs
00021 {
00022 template <class ContainerAllocator>
00023 struct NavigatorCommand_ {
00024 typedef NavigatorCommand_<ContainerAllocator> Type;
00025
00026 NavigatorCommand_()
00027 : header()
00028 , order()
00029 {
00030 }
00031
00032 NavigatorCommand_(const ContainerAllocator& _alloc)
00033 : header(_alloc)
00034 , order(_alloc)
00035 {
00036 }
00037
00038 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00039 ::std_msgs::Header_<ContainerAllocator> header;
00040
00041 typedef ::art_msgs::Order_<ContainerAllocator> _order_type;
00042 ::art_msgs::Order_<ContainerAllocator> order;
00043
00044
00045 typedef boost::shared_ptr< ::art_msgs::NavigatorCommand_<ContainerAllocator> > Ptr;
00046 typedef boost::shared_ptr< ::art_msgs::NavigatorCommand_<ContainerAllocator> const> ConstPtr;
00047 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00048 };
00049 typedef ::art_msgs::NavigatorCommand_<std::allocator<void> > NavigatorCommand;
00050
00051 typedef boost::shared_ptr< ::art_msgs::NavigatorCommand> NavigatorCommandPtr;
00052 typedef boost::shared_ptr< ::art_msgs::NavigatorCommand const> NavigatorCommandConstPtr;
00053
00054
00055 template<typename ContainerAllocator>
00056 std::ostream& operator<<(std::ostream& s, const ::art_msgs::NavigatorCommand_<ContainerAllocator> & v)
00057 {
00058 ros::message_operations::Printer< ::art_msgs::NavigatorCommand_<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::NavigatorCommand_<ContainerAllocator> > : public TrueType {};
00068 template<class ContainerAllocator> struct IsMessage< ::art_msgs::NavigatorCommand_<ContainerAllocator> const> : public TrueType {};
00069 template<class ContainerAllocator>
00070 struct MD5Sum< ::art_msgs::NavigatorCommand_<ContainerAllocator> > {
00071 static const char* value()
00072 {
00073 return "415e5ee8b2ed1c9329a949ed123760f3";
00074 }
00075
00076 static const char* value(const ::art_msgs::NavigatorCommand_<ContainerAllocator> &) { return value(); }
00077 static const uint64_t static_value1 = 0x415e5ee8b2ed1c93ULL;
00078 static const uint64_t static_value2 = 0x29a949ed123760f3ULL;
00079 };
00080
00081 template<class ContainerAllocator>
00082 struct DataType< ::art_msgs::NavigatorCommand_<ContainerAllocator> > {
00083 static const char* value()
00084 {
00085 return "art_msgs/NavigatorCommand";
00086 }
00087
00088 static const char* value(const ::art_msgs::NavigatorCommand_<ContainerAllocator> &) { return value(); }
00089 };
00090
00091 template<class ContainerAllocator>
00092 struct Definition< ::art_msgs::NavigatorCommand_<ContainerAllocator> > {
00093 static const char* value()
00094 {
00095 return "# navigator command message\n\
00096 # $Id: NavigatorCommand.msg 615 2010-09-24 16:07:50Z jack.oquin $\n\
00097 \n\
00098 Header header\n\
00099 Order order\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/Order\n\
00121 # commander order for the navigator\n\
00122 # $Id: Order.msg 615 2010-09-24 16:07:50Z jack.oquin $\n\
00123 \n\
00124 uint32 N_WAYPTS = 5 # number of way-points in order\n\
00125 uint32 N_CHKPTS = 2 # number of checkpoints in order\n\
00126 \n\
00127 Behavior behavior # requested behavior\n\
00128 art_msgs/WayPoint[5] waypt # way-point array\n\
00129 art_msgs/WayPoint[2] chkpt # next two goal checkpoints\n\
00130 float32 min_speed # in meters/sec\n\
00131 float32 max_speed\n\
00132 int32 replan_num\n\
00133 int32 next_uturn # Uturn between [1] and [2]\n\
00134 \n\
00135 ================================================================================\n\
00136 MSG: art_msgs/Behavior\n\
00137 # ART Navigator behaviors (lower numbers have higher priority)\n\
00138 # $Id: Behavior.msg 996 2011-02-27 16:07:34Z jack.oquin $\n\
00139 \n\
00140 # enumerated behavior values\n\
00141 int16 Abort = 0\n\
00142 int16 Quit = 1\n\
00143 int16 Pause = 2\n\
00144 int16 Run = 3\n\
00145 int16 Suspend = 4\n\
00146 int16 Initialize = 5\n\
00147 int16 Go = 6\n\
00148 int16 NONE = 7\n\
00149 int16 N_behaviors = 8\n\
00150 \n\
00151 int16 value\n\
00152 \n\
00153 ================================================================================\n\
00154 MSG: art_msgs/WayPoint\n\
00155 # Way-point attributes\n\
00156 # $Id: WayPoint.msg 614 2010-09-24 15:08:46Z jack.oquin $\n\
00157 \n\
00158 float64 latitude # latitude in degrees\n\
00159 float64 longitude # longitude in degrees\n\
00160 geometry_msgs/Point32 mapxy # MapXY position\n\
00161 MapID id # way-point ID\n\
00162 uint16 index # parser index of waypoint\n\
00163 \n\
00164 # way-point flags\n\
00165 bool is_entry # lane or zone exit point\n\
00166 bool is_exit # lane or zone entry point\n\
00167 bool is_goal # this is a goal checkpoint\n\
00168 bool is_lane_change # change lanes after here\n\
00169 bool is_spot # parking spot\n\
00170 bool is_stop # stop line here\n\
00171 bool is_perimeter # zone perimeter point\n\
00172 int32 checkpoint_id # checkpoint ID or zero\n\
00173 float32 lane_width\n\
00174 \n\
00175 ================================================================================\n\
00176 MSG: geometry_msgs/Point32\n\
00177 # This contains the position of a point in free space(with 32 bits of precision).\n\
00178 # It is recommeded to use Point wherever possible instead of Point32. \n\
00179 # \n\
00180 # This recommendation is to promote interoperability. \n\
00181 #\n\
00182 # This message is designed to take up less space when sending\n\
00183 # lots of points at once, as in the case of a PointCloud. \n\
00184 \n\
00185 float32 x\n\
00186 float32 y\n\
00187 float32 z\n\
00188 ================================================================================\n\
00189 MSG: art_msgs/MapID\n\
00190 # Road map identifier for segments, lanes and way-points.\n\
00191 # $Id: MapID.msg 614 2010-09-24 15:08:46Z jack.oquin $\n\
00192 \n\
00193 uint16 NULL_ID = 65535\n\
00194 \n\
00195 uint16 seg # segment ID\n\
00196 uint16 lane # lane ID\n\
00197 uint16 pt # way-point ID\n\
00198 \n\
00199 ";
00200 }
00201
00202 static const char* value(const ::art_msgs::NavigatorCommand_<ContainerAllocator> &) { return value(); }
00203 };
00204
00205 template<class ContainerAllocator> struct HasHeader< ::art_msgs::NavigatorCommand_<ContainerAllocator> > : public TrueType {};
00206 template<class ContainerAllocator> struct HasHeader< const ::art_msgs::NavigatorCommand_<ContainerAllocator> > : public TrueType {};
00207 }
00208 }
00209
00210 namespace ros
00211 {
00212 namespace serialization
00213 {
00214
00215 template<class ContainerAllocator> struct Serializer< ::art_msgs::NavigatorCommand_<ContainerAllocator> >
00216 {
00217 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00218 {
00219 stream.next(m.header);
00220 stream.next(m.order);
00221 }
00222
00223 ROS_DECLARE_ALLINONE_SERIALIZER;
00224 };
00225 }
00226 }
00227
00228 namespace ros
00229 {
00230 namespace message_operations
00231 {
00232
00233 template<class ContainerAllocator>
00234 struct Printer< ::art_msgs::NavigatorCommand_<ContainerAllocator> >
00235 {
00236 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::art_msgs::NavigatorCommand_<ContainerAllocator> & v)
00237 {
00238 s << indent << "header: ";
00239 s << std::endl;
00240 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00241 s << indent << "order: ";
00242 s << std::endl;
00243 Printer< ::art_msgs::Order_<ContainerAllocator> >::stream(s, indent + " ", v.order);
00244 }
00245 };
00246
00247
00248 }
00249 }
00250
00251 #endif // ART_MSGS_MESSAGE_NAVIGATORCOMMAND_H
00252