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00002 #ifndef ART_MSGS_MESSAGE_ORDER_H
00003 #define ART_MSGS_MESSAGE_ORDER_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 "art_msgs/Behavior.h"
00018 #include "art_msgs/WayPoint.h"
00019 #include "art_msgs/WayPoint.h"
00020
00021 namespace art_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct Order_ {
00025 typedef Order_<ContainerAllocator> Type;
00026
00027 Order_()
00028 : behavior()
00029 , waypt()
00030 , chkpt()
00031 , min_speed(0.0)
00032 , max_speed(0.0)
00033 , replan_num(0)
00034 , next_uturn(0)
00035 {
00036 }
00037
00038 Order_(const ContainerAllocator& _alloc)
00039 : behavior(_alloc)
00040 , waypt()
00041 , chkpt()
00042 , min_speed(0.0)
00043 , max_speed(0.0)
00044 , replan_num(0)
00045 , next_uturn(0)
00046 {
00047 waypt.assign( ::art_msgs::WayPoint_<ContainerAllocator> (_alloc));
00048 chkpt.assign( ::art_msgs::WayPoint_<ContainerAllocator> (_alloc));
00049 }
00050
00051 typedef ::art_msgs::Behavior_<ContainerAllocator> _behavior_type;
00052 ::art_msgs::Behavior_<ContainerAllocator> behavior;
00053
00054 typedef boost::array< ::art_msgs::WayPoint_<ContainerAllocator> , 5> _waypt_type;
00055 boost::array< ::art_msgs::WayPoint_<ContainerAllocator> , 5> waypt;
00056
00057 typedef boost::array< ::art_msgs::WayPoint_<ContainerAllocator> , 2> _chkpt_type;
00058 boost::array< ::art_msgs::WayPoint_<ContainerAllocator> , 2> chkpt;
00059
00060 typedef float _min_speed_type;
00061 float min_speed;
00062
00063 typedef float _max_speed_type;
00064 float max_speed;
00065
00066 typedef int32_t _replan_num_type;
00067 int32_t replan_num;
00068
00069 typedef int32_t _next_uturn_type;
00070 int32_t next_uturn;
00071
00072 enum { N_WAYPTS = 5 };
00073 enum { N_CHKPTS = 2 };
00074
00075 typedef boost::shared_ptr< ::art_msgs::Order_<ContainerAllocator> > Ptr;
00076 typedef boost::shared_ptr< ::art_msgs::Order_<ContainerAllocator> const> ConstPtr;
00077 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00078 };
00079 typedef ::art_msgs::Order_<std::allocator<void> > Order;
00080
00081 typedef boost::shared_ptr< ::art_msgs::Order> OrderPtr;
00082 typedef boost::shared_ptr< ::art_msgs::Order const> OrderConstPtr;
00083
00084
00085 template<typename ContainerAllocator>
00086 std::ostream& operator<<(std::ostream& s, const ::art_msgs::Order_<ContainerAllocator> & v)
00087 {
00088 ros::message_operations::Printer< ::art_msgs::Order_<ContainerAllocator> >::stream(s, "", v);
00089 return s;}
00090
00091 }
00092
00093 namespace ros
00094 {
00095 namespace message_traits
00096 {
00097 template<class ContainerAllocator> struct IsMessage< ::art_msgs::Order_<ContainerAllocator> > : public TrueType {};
00098 template<class ContainerAllocator> struct IsMessage< ::art_msgs::Order_<ContainerAllocator> const> : public TrueType {};
00099 template<class ContainerAllocator>
00100 struct MD5Sum< ::art_msgs::Order_<ContainerAllocator> > {
00101 static const char* value()
00102 {
00103 return "f43d538cba2d46c585cc23d97b9223b2";
00104 }
00105
00106 static const char* value(const ::art_msgs::Order_<ContainerAllocator> &) { return value(); }
00107 static const uint64_t static_value1 = 0xf43d538cba2d46c5ULL;
00108 static const uint64_t static_value2 = 0x85cc23d97b9223b2ULL;
00109 };
00110
00111 template<class ContainerAllocator>
00112 struct DataType< ::art_msgs::Order_<ContainerAllocator> > {
00113 static const char* value()
00114 {
00115 return "art_msgs/Order";
00116 }
00117
00118 static const char* value(const ::art_msgs::Order_<ContainerAllocator> &) { return value(); }
00119 };
00120
00121 template<class ContainerAllocator>
00122 struct Definition< ::art_msgs::Order_<ContainerAllocator> > {
00123 static const char* value()
00124 {
00125 return "# commander order for the navigator\n\
00126 # $Id: Order.msg 615 2010-09-24 16:07:50Z jack.oquin $\n\
00127 \n\
00128 uint32 N_WAYPTS = 5 # number of way-points in order\n\
00129 uint32 N_CHKPTS = 2 # number of checkpoints in order\n\
00130 \n\
00131 Behavior behavior # requested behavior\n\
00132 art_msgs/WayPoint[5] waypt # way-point array\n\
00133 art_msgs/WayPoint[2] chkpt # next two goal checkpoints\n\
00134 float32 min_speed # in meters/sec\n\
00135 float32 max_speed\n\
00136 int32 replan_num\n\
00137 int32 next_uturn # Uturn between [1] and [2]\n\
00138 \n\
00139 ================================================================================\n\
00140 MSG: art_msgs/Behavior\n\
00141 # ART Navigator behaviors (lower numbers have higher priority)\n\
00142 # $Id: Behavior.msg 996 2011-02-27 16:07:34Z jack.oquin $\n\
00143 \n\
00144 # enumerated behavior values\n\
00145 int16 Abort = 0\n\
00146 int16 Quit = 1\n\
00147 int16 Pause = 2\n\
00148 int16 Run = 3\n\
00149 int16 Suspend = 4\n\
00150 int16 Initialize = 5\n\
00151 int16 Go = 6\n\
00152 int16 NONE = 7\n\
00153 int16 N_behaviors = 8\n\
00154 \n\
00155 int16 value\n\
00156 \n\
00157 ================================================================================\n\
00158 MSG: art_msgs/WayPoint\n\
00159 # Way-point attributes\n\
00160 # $Id: WayPoint.msg 614 2010-09-24 15:08:46Z jack.oquin $\n\
00161 \n\
00162 float64 latitude # latitude in degrees\n\
00163 float64 longitude # longitude in degrees\n\
00164 geometry_msgs/Point32 mapxy # MapXY position\n\
00165 MapID id # way-point ID\n\
00166 uint16 index # parser index of waypoint\n\
00167 \n\
00168 # way-point flags\n\
00169 bool is_entry # lane or zone exit point\n\
00170 bool is_exit # lane or zone entry point\n\
00171 bool is_goal # this is a goal checkpoint\n\
00172 bool is_lane_change # change lanes after here\n\
00173 bool is_spot # parking spot\n\
00174 bool is_stop # stop line here\n\
00175 bool is_perimeter # zone perimeter point\n\
00176 int32 checkpoint_id # checkpoint ID or zero\n\
00177 float32 lane_width\n\
00178 \n\
00179 ================================================================================\n\
00180 MSG: geometry_msgs/Point32\n\
00181 # This contains the position of a point in free space(with 32 bits of precision).\n\
00182 # It is recommeded to use Point wherever possible instead of Point32. \n\
00183 # \n\
00184 # This recommendation is to promote interoperability. \n\
00185 #\n\
00186 # This message is designed to take up less space when sending\n\
00187 # lots of points at once, as in the case of a PointCloud. \n\
00188 \n\
00189 float32 x\n\
00190 float32 y\n\
00191 float32 z\n\
00192 ================================================================================\n\
00193 MSG: art_msgs/MapID\n\
00194 # Road map identifier for segments, lanes and way-points.\n\
00195 # $Id: MapID.msg 614 2010-09-24 15:08:46Z jack.oquin $\n\
00196 \n\
00197 uint16 NULL_ID = 65535\n\
00198 \n\
00199 uint16 seg # segment ID\n\
00200 uint16 lane # lane ID\n\
00201 uint16 pt # way-point ID\n\
00202 \n\
00203 ";
00204 }
00205
00206 static const char* value(const ::art_msgs::Order_<ContainerAllocator> &) { return value(); }
00207 };
00208
00209 template<class ContainerAllocator> struct IsFixedSize< ::art_msgs::Order_<ContainerAllocator> > : public TrueType {};
00210 }
00211 }
00212
00213 namespace ros
00214 {
00215 namespace serialization
00216 {
00217
00218 template<class ContainerAllocator> struct Serializer< ::art_msgs::Order_<ContainerAllocator> >
00219 {
00220 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00221 {
00222 stream.next(m.behavior);
00223 stream.next(m.waypt);
00224 stream.next(m.chkpt);
00225 stream.next(m.min_speed);
00226 stream.next(m.max_speed);
00227 stream.next(m.replan_num);
00228 stream.next(m.next_uturn);
00229 }
00230
00231 ROS_DECLARE_ALLINONE_SERIALIZER;
00232 };
00233 }
00234 }
00235
00236 namespace ros
00237 {
00238 namespace message_operations
00239 {
00240
00241 template<class ContainerAllocator>
00242 struct Printer< ::art_msgs::Order_<ContainerAllocator> >
00243 {
00244 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::art_msgs::Order_<ContainerAllocator> & v)
00245 {
00246 s << indent << "behavior: ";
00247 s << std::endl;
00248 Printer< ::art_msgs::Behavior_<ContainerAllocator> >::stream(s, indent + " ", v.behavior);
00249 s << indent << "waypt[]" << std::endl;
00250 for (size_t i = 0; i < v.waypt.size(); ++i)
00251 {
00252 s << indent << " waypt[" << i << "]: ";
00253 s << std::endl;
00254 s << indent;
00255 Printer< ::art_msgs::WayPoint_<ContainerAllocator> >::stream(s, indent + " ", v.waypt[i]);
00256 }
00257 s << indent << "chkpt[]" << std::endl;
00258 for (size_t i = 0; i < v.chkpt.size(); ++i)
00259 {
00260 s << indent << " chkpt[" << i << "]: ";
00261 s << std::endl;
00262 s << indent;
00263 Printer< ::art_msgs::WayPoint_<ContainerAllocator> >::stream(s, indent + " ", v.chkpt[i]);
00264 }
00265 s << indent << "min_speed: ";
00266 Printer<float>::stream(s, indent + " ", v.min_speed);
00267 s << indent << "max_speed: ";
00268 Printer<float>::stream(s, indent + " ", v.max_speed);
00269 s << indent << "replan_num: ";
00270 Printer<int32_t>::stream(s, indent + " ", v.replan_num);
00271 s << indent << "next_uturn: ";
00272 Printer<int32_t>::stream(s, indent + " ", v.next_uturn);
00273 }
00274 };
00275
00276
00277 }
00278 }
00279
00280 #endif // ART_MSGS_MESSAGE_ORDER_H
00281