00001
00002 #ifndef CALIBRATION_MSGS_MESSAGE_DENSELASERSNAPSHOT_H
00003 #define CALIBRATION_MSGS_MESSAGE_DENSELASERSNAPSHOT_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
00019 namespace calibration_msgs
00020 {
00021 template <class ContainerAllocator>
00022 struct DenseLaserSnapshot_ {
00023 typedef DenseLaserSnapshot_<ContainerAllocator> Type;
00024
00025 DenseLaserSnapshot_()
00026 : header()
00027 , angle_min(0.0)
00028 , angle_max(0.0)
00029 , angle_increment(0.0)
00030 , time_increment(0.0)
00031 , range_min(0.0)
00032 , range_max(0.0)
00033 , readings_per_scan(0)
00034 , num_scans(0)
00035 , ranges()
00036 , intensities()
00037 , scan_start()
00038 {
00039 }
00040
00041 DenseLaserSnapshot_(const ContainerAllocator& _alloc)
00042 : header(_alloc)
00043 , angle_min(0.0)
00044 , angle_max(0.0)
00045 , angle_increment(0.0)
00046 , time_increment(0.0)
00047 , range_min(0.0)
00048 , range_max(0.0)
00049 , readings_per_scan(0)
00050 , num_scans(0)
00051 , ranges(_alloc)
00052 , intensities(_alloc)
00053 , scan_start(_alloc)
00054 {
00055 }
00056
00057 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00058 ::std_msgs::Header_<ContainerAllocator> header;
00059
00060 typedef float _angle_min_type;
00061 float angle_min;
00062
00063 typedef float _angle_max_type;
00064 float angle_max;
00065
00066 typedef float _angle_increment_type;
00067 float angle_increment;
00068
00069 typedef float _time_increment_type;
00070 float time_increment;
00071
00072 typedef float _range_min_type;
00073 float range_min;
00074
00075 typedef float _range_max_type;
00076 float range_max;
00077
00078 typedef uint32_t _readings_per_scan_type;
00079 uint32_t readings_per_scan;
00080
00081 typedef uint32_t _num_scans_type;
00082 uint32_t num_scans;
00083
00084 typedef std::vector<float, typename ContainerAllocator::template rebind<float>::other > _ranges_type;
00085 std::vector<float, typename ContainerAllocator::template rebind<float>::other > ranges;
00086
00087 typedef std::vector<float, typename ContainerAllocator::template rebind<float>::other > _intensities_type;
00088 std::vector<float, typename ContainerAllocator::template rebind<float>::other > intensities;
00089
00090 typedef std::vector<ros::Time, typename ContainerAllocator::template rebind<ros::Time>::other > _scan_start_type;
00091 std::vector<ros::Time, typename ContainerAllocator::template rebind<ros::Time>::other > scan_start;
00092
00093
00094 typedef boost::shared_ptr< ::calibration_msgs::DenseLaserSnapshot_<ContainerAllocator> > Ptr;
00095 typedef boost::shared_ptr< ::calibration_msgs::DenseLaserSnapshot_<ContainerAllocator> const> ConstPtr;
00096 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00097 };
00098 typedef ::calibration_msgs::DenseLaserSnapshot_<std::allocator<void> > DenseLaserSnapshot;
00099
00100 typedef boost::shared_ptr< ::calibration_msgs::DenseLaserSnapshot> DenseLaserSnapshotPtr;
00101 typedef boost::shared_ptr< ::calibration_msgs::DenseLaserSnapshot const> DenseLaserSnapshotConstPtr;
00102
00103
00104 template<typename ContainerAllocator>
00105 std::ostream& operator<<(std::ostream& s, const ::calibration_msgs::DenseLaserSnapshot_<ContainerAllocator> & v)
00106 {
00107 ros::message_operations::Printer< ::calibration_msgs::DenseLaserSnapshot_<ContainerAllocator> >::stream(s, "", v);
00108 return s;}
00109
00110 }
00111
00112 namespace ros
00113 {
00114 namespace message_traits
00115 {
00116 template<class ContainerAllocator> struct IsMessage< ::calibration_msgs::DenseLaserSnapshot_<ContainerAllocator> > : public TrueType {};
00117 template<class ContainerAllocator> struct IsMessage< ::calibration_msgs::DenseLaserSnapshot_<ContainerAllocator> const> : public TrueType {};
00118 template<class ContainerAllocator>
00119 struct MD5Sum< ::calibration_msgs::DenseLaserSnapshot_<ContainerAllocator> > {
00120 static const char* value()
00121 {
00122 return "deb2810d3530db3484f886a81243195d";
00123 }
00124
00125 static const char* value(const ::calibration_msgs::DenseLaserSnapshot_<ContainerAllocator> &) { return value(); }
00126 static const uint64_t static_value1 = 0xdeb2810d3530db34ULL;
00127 static const uint64_t static_value2 = 0x84f886a81243195dULL;
00128 };
00129
00130 template<class ContainerAllocator>
00131 struct DataType< ::calibration_msgs::DenseLaserSnapshot_<ContainerAllocator> > {
00132 static const char* value()
00133 {
00134 return "calibration_msgs/DenseLaserSnapshot";
00135 }
00136
00137 static const char* value(const ::calibration_msgs::DenseLaserSnapshot_<ContainerAllocator> &) { return value(); }
00138 };
00139
00140 template<class ContainerAllocator>
00141 struct Definition< ::calibration_msgs::DenseLaserSnapshot_<ContainerAllocator> > {
00142 static const char* value()
00143 {
00144 return "# Provides all the state & sensor information for\n\
00145 # a single sweep of laser attached to some mechanism.\n\
00146 # Most likely, this will be used with PR2's tilting laser mechanism\n\
00147 Header header\n\
00148 \n\
00149 # Store the laser intrinsics. This is very similar to the\n\
00150 # intrinsics commonly stored in \n\
00151 float32 angle_min # start angle of the scan [rad]\n\
00152 float32 angle_max # end angle of the scan [rad]\n\
00153 float32 angle_increment # angular distance between measurements [rad]\n\
00154 float32 time_increment # time between measurements [seconds]\n\
00155 float32 range_min # minimum range value [m]\n\
00156 float32 range_max # maximum range value [m]\n\
00157 \n\
00158 # Define the size of the binary data\n\
00159 uint32 readings_per_scan # (Width)\n\
00160 uint32 num_scans # (Height)\n\
00161 \n\
00162 # 2D Arrays storing laser data.\n\
00163 # We can think of each type data as being a single channel image.\n\
00164 # Each row of the image has data from a single scan, and scans are\n\
00165 # concatenated to form the entire 'image'.\n\
00166 float32[] ranges # (Image data)\n\
00167 float32[] intensities # (Image data)\n\
00168 \n\
00169 # Store the start time of each scan\n\
00170 time[] scan_start\n\
00171 \n\
00172 ================================================================================\n\
00173 MSG: std_msgs/Header\n\
00174 # Standard metadata for higher-level stamped data types.\n\
00175 # This is generally used to communicate timestamped data \n\
00176 # in a particular coordinate frame.\n\
00177 # \n\
00178 # sequence ID: consecutively increasing ID \n\
00179 uint32 seq\n\
00180 #Two-integer timestamp that is expressed as:\n\
00181 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00182 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00183 # time-handling sugar is provided by the client library\n\
00184 time stamp\n\
00185 #Frame this data is associated with\n\
00186 # 0: no frame\n\
00187 # 1: global frame\n\
00188 string frame_id\n\
00189 \n\
00190 ";
00191 }
00192
00193 static const char* value(const ::calibration_msgs::DenseLaserSnapshot_<ContainerAllocator> &) { return value(); }
00194 };
00195
00196 template<class ContainerAllocator> struct HasHeader< ::calibration_msgs::DenseLaserSnapshot_<ContainerAllocator> > : public TrueType {};
00197 template<class ContainerAllocator> struct HasHeader< const ::calibration_msgs::DenseLaserSnapshot_<ContainerAllocator> > : public TrueType {};
00198 }
00199 }
00200
00201 namespace ros
00202 {
00203 namespace serialization
00204 {
00205
00206 template<class ContainerAllocator> struct Serializer< ::calibration_msgs::DenseLaserSnapshot_<ContainerAllocator> >
00207 {
00208 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00209 {
00210 stream.next(m.header);
00211 stream.next(m.angle_min);
00212 stream.next(m.angle_max);
00213 stream.next(m.angle_increment);
00214 stream.next(m.time_increment);
00215 stream.next(m.range_min);
00216 stream.next(m.range_max);
00217 stream.next(m.readings_per_scan);
00218 stream.next(m.num_scans);
00219 stream.next(m.ranges);
00220 stream.next(m.intensities);
00221 stream.next(m.scan_start);
00222 }
00223
00224 ROS_DECLARE_ALLINONE_SERIALIZER;
00225 };
00226 }
00227 }
00228
00229 namespace ros
00230 {
00231 namespace message_operations
00232 {
00233
00234 template<class ContainerAllocator>
00235 struct Printer< ::calibration_msgs::DenseLaserSnapshot_<ContainerAllocator> >
00236 {
00237 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::calibration_msgs::DenseLaserSnapshot_<ContainerAllocator> & v)
00238 {
00239 s << indent << "header: ";
00240 s << std::endl;
00241 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00242 s << indent << "angle_min: ";
00243 Printer<float>::stream(s, indent + " ", v.angle_min);
00244 s << indent << "angle_max: ";
00245 Printer<float>::stream(s, indent + " ", v.angle_max);
00246 s << indent << "angle_increment: ";
00247 Printer<float>::stream(s, indent + " ", v.angle_increment);
00248 s << indent << "time_increment: ";
00249 Printer<float>::stream(s, indent + " ", v.time_increment);
00250 s << indent << "range_min: ";
00251 Printer<float>::stream(s, indent + " ", v.range_min);
00252 s << indent << "range_max: ";
00253 Printer<float>::stream(s, indent + " ", v.range_max);
00254 s << indent << "readings_per_scan: ";
00255 Printer<uint32_t>::stream(s, indent + " ", v.readings_per_scan);
00256 s << indent << "num_scans: ";
00257 Printer<uint32_t>::stream(s, indent + " ", v.num_scans);
00258 s << indent << "ranges[]" << std::endl;
00259 for (size_t i = 0; i < v.ranges.size(); ++i)
00260 {
00261 s << indent << " ranges[" << i << "]: ";
00262 Printer<float>::stream(s, indent + " ", v.ranges[i]);
00263 }
00264 s << indent << "intensities[]" << std::endl;
00265 for (size_t i = 0; i < v.intensities.size(); ++i)
00266 {
00267 s << indent << " intensities[" << i << "]: ";
00268 Printer<float>::stream(s, indent + " ", v.intensities[i]);
00269 }
00270 s << indent << "scan_start[]" << std::endl;
00271 for (size_t i = 0; i < v.scan_start.size(); ++i)
00272 {
00273 s << indent << " scan_start[" << i << "]: ";
00274 Printer<ros::Time>::stream(s, indent + " ", v.scan_start[i]);
00275 }
00276 }
00277 };
00278
00279
00280 }
00281 }
00282
00283 #endif // CALIBRATION_MSGS_MESSAGE_DENSELASERSNAPSHOT_H
00284