00001
00002 #ifndef CALIBRATION_MSGS_MESSAGE_LASERMEASUREMENT_H
00003 #define CALIBRATION_MSGS_MESSAGE_LASERMEASUREMENT_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 "sensor_msgs/JointState.h"
00019 #include "calibration_msgs/DenseLaserSnapshot.h"
00020 #include "sensor_msgs/Image.h"
00021 #include "calibration_msgs/CalibrationPattern.h"
00022 #include "calibration_msgs/JointStateCalibrationPattern.h"
00023
00024 namespace calibration_msgs
00025 {
00026 template <class ContainerAllocator>
00027 struct LaserMeasurement_ {
00028 typedef LaserMeasurement_<ContainerAllocator> Type;
00029
00030 LaserMeasurement_()
00031 : header()
00032 , laser_id()
00033 , joint_points()
00034 , verbose(false)
00035 , snapshot()
00036 , laser_image()
00037 , image_features()
00038 , joint_features()
00039 {
00040 }
00041
00042 LaserMeasurement_(const ContainerAllocator& _alloc)
00043 : header(_alloc)
00044 , laser_id(_alloc)
00045 , joint_points(_alloc)
00046 , verbose(false)
00047 , snapshot(_alloc)
00048 , laser_image(_alloc)
00049 , image_features(_alloc)
00050 , joint_features(_alloc)
00051 {
00052 }
00053
00054 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00055 ::std_msgs::Header_<ContainerAllocator> header;
00056
00057 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _laser_id_type;
00058 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > laser_id;
00059
00060 typedef std::vector< ::sensor_msgs::JointState_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::sensor_msgs::JointState_<ContainerAllocator> >::other > _joint_points_type;
00061 std::vector< ::sensor_msgs::JointState_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::sensor_msgs::JointState_<ContainerAllocator> >::other > joint_points;
00062
00063 typedef uint8_t _verbose_type;
00064 uint8_t verbose;
00065
00066 typedef ::calibration_msgs::DenseLaserSnapshot_<ContainerAllocator> _snapshot_type;
00067 ::calibration_msgs::DenseLaserSnapshot_<ContainerAllocator> snapshot;
00068
00069 typedef ::sensor_msgs::Image_<ContainerAllocator> _laser_image_type;
00070 ::sensor_msgs::Image_<ContainerAllocator> laser_image;
00071
00072 typedef ::calibration_msgs::CalibrationPattern_<ContainerAllocator> _image_features_type;
00073 ::calibration_msgs::CalibrationPattern_<ContainerAllocator> image_features;
00074
00075 typedef ::calibration_msgs::JointStateCalibrationPattern_<ContainerAllocator> _joint_features_type;
00076 ::calibration_msgs::JointStateCalibrationPattern_<ContainerAllocator> joint_features;
00077
00078
00079 typedef boost::shared_ptr< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> > Ptr;
00080 typedef boost::shared_ptr< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> const> ConstPtr;
00081 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00082 };
00083 typedef ::calibration_msgs::LaserMeasurement_<std::allocator<void> > LaserMeasurement;
00084
00085 typedef boost::shared_ptr< ::calibration_msgs::LaserMeasurement> LaserMeasurementPtr;
00086 typedef boost::shared_ptr< ::calibration_msgs::LaserMeasurement const> LaserMeasurementConstPtr;
00087
00088
00089 template<typename ContainerAllocator>
00090 std::ostream& operator<<(std::ostream& s, const ::calibration_msgs::LaserMeasurement_<ContainerAllocator> & v)
00091 {
00092 ros::message_operations::Printer< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> >::stream(s, "", v);
00093 return s;}
00094
00095 }
00096
00097 namespace ros
00098 {
00099 namespace message_traits
00100 {
00101 template<class ContainerAllocator> struct IsMessage< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> > : public TrueType {};
00102 template<class ContainerAllocator> struct IsMessage< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> const> : public TrueType {};
00103 template<class ContainerAllocator>
00104 struct MD5Sum< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> > {
00105 static const char* value()
00106 {
00107 return "7fa7e818b1234a443aa5d8e315175d17";
00108 }
00109
00110 static const char* value(const ::calibration_msgs::LaserMeasurement_<ContainerAllocator> &) { return value(); }
00111 static const uint64_t static_value1 = 0x7fa7e818b1234a44ULL;
00112 static const uint64_t static_value2 = 0x3aa5d8e315175d17ULL;
00113 };
00114
00115 template<class ContainerAllocator>
00116 struct DataType< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> > {
00117 static const char* value()
00118 {
00119 return "calibration_msgs/LaserMeasurement";
00120 }
00121
00122 static const char* value(const ::calibration_msgs::LaserMeasurement_<ContainerAllocator> &) { return value(); }
00123 };
00124
00125 template<class ContainerAllocator>
00126 struct Definition< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> > {
00127 static const char* value()
00128 {
00129 return "Header header\n\
00130 string laser_id\n\
00131 sensor_msgs/JointState[] joint_points\n\
00132 \n\
00133 # True -> The extra debugging fields are populated\n\
00134 bool verbose\n\
00135 \n\
00136 # Extra, partially processed data. Only needed for debugging\n\
00137 calibration_msgs/DenseLaserSnapshot snapshot\n\
00138 sensor_msgs/Image laser_image\n\
00139 calibration_msgs/CalibrationPattern image_features\n\
00140 calibration_msgs/JointStateCalibrationPattern joint_features\n\
00141 \n\
00142 ================================================================================\n\
00143 MSG: std_msgs/Header\n\
00144 # Standard metadata for higher-level stamped data types.\n\
00145 # This is generally used to communicate timestamped data \n\
00146 # in a particular coordinate frame.\n\
00147 # \n\
00148 # sequence ID: consecutively increasing ID \n\
00149 uint32 seq\n\
00150 #Two-integer timestamp that is expressed as:\n\
00151 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00152 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00153 # time-handling sugar is provided by the client library\n\
00154 time stamp\n\
00155 #Frame this data is associated with\n\
00156 # 0: no frame\n\
00157 # 1: global frame\n\
00158 string frame_id\n\
00159 \n\
00160 ================================================================================\n\
00161 MSG: sensor_msgs/JointState\n\
00162 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00163 #\n\
00164 # The state of each joint (revolute or prismatic) is defined by:\n\
00165 # * the position of the joint (rad or m),\n\
00166 # * the velocity of the joint (rad/s or m/s) and \n\
00167 # * the effort that is applied in the joint (Nm or N).\n\
00168 #\n\
00169 # Each joint is uniquely identified by its name\n\
00170 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00171 # in one message have to be recorded at the same time.\n\
00172 #\n\
00173 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00174 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00175 # effort associated with them, you can leave the effort array empty. \n\
00176 #\n\
00177 # All arrays in this message should have the same size, or be empty.\n\
00178 # This is the only way to uniquely associate the joint name with the correct\n\
00179 # states.\n\
00180 \n\
00181 \n\
00182 Header header\n\
00183 \n\
00184 string[] name\n\
00185 float64[] position\n\
00186 float64[] velocity\n\
00187 float64[] effort\n\
00188 \n\
00189 ================================================================================\n\
00190 MSG: calibration_msgs/DenseLaserSnapshot\n\
00191 # Provides all the state & sensor information for\n\
00192 # a single sweep of laser attached to some mechanism.\n\
00193 # Most likely, this will be used with PR2's tilting laser mechanism\n\
00194 Header header\n\
00195 \n\
00196 # Store the laser intrinsics. This is very similar to the\n\
00197 # intrinsics commonly stored in \n\
00198 float32 angle_min # start angle of the scan [rad]\n\
00199 float32 angle_max # end angle of the scan [rad]\n\
00200 float32 angle_increment # angular distance between measurements [rad]\n\
00201 float32 time_increment # time between measurements [seconds]\n\
00202 float32 range_min # minimum range value [m]\n\
00203 float32 range_max # maximum range value [m]\n\
00204 \n\
00205 # Define the size of the binary data\n\
00206 uint32 readings_per_scan # (Width)\n\
00207 uint32 num_scans # (Height)\n\
00208 \n\
00209 # 2D Arrays storing laser data.\n\
00210 # We can think of each type data as being a single channel image.\n\
00211 # Each row of the image has data from a single scan, and scans are\n\
00212 # concatenated to form the entire 'image'.\n\
00213 float32[] ranges # (Image data)\n\
00214 float32[] intensities # (Image data)\n\
00215 \n\
00216 # Store the start time of each scan\n\
00217 time[] scan_start\n\
00218 \n\
00219 ================================================================================\n\
00220 MSG: sensor_msgs/Image\n\
00221 # This message contains an uncompressed image\n\
00222 # (0, 0) is at top-left corner of image\n\
00223 #\n\
00224 \n\
00225 Header header # Header timestamp should be acquisition time of image\n\
00226 # Header frame_id should be optical frame of camera\n\
00227 # origin of frame should be optical center of cameara\n\
00228 # +x should point to the right in the image\n\
00229 # +y should point down in the image\n\
00230 # +z should point into to plane of the image\n\
00231 # If the frame_id here and the frame_id of the CameraInfo\n\
00232 # message associated with the image conflict\n\
00233 # the behavior is undefined\n\
00234 \n\
00235 uint32 height # image height, that is, number of rows\n\
00236 uint32 width # image width, that is, number of columns\n\
00237 \n\
00238 # The legal values for encoding are in file src/image_encodings.cpp\n\
00239 # If you want to standardize a new string format, join\n\
00240 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00241 \n\
00242 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00243 # taken from the list of strings in src/image_encodings.cpp\n\
00244 \n\
00245 uint8 is_bigendian # is this data bigendian?\n\
00246 uint32 step # Full row length in bytes\n\
00247 uint8[] data # actual matrix data, size is (step * rows)\n\
00248 \n\
00249 ================================================================================\n\
00250 MSG: calibration_msgs/CalibrationPattern\n\
00251 Header header\n\
00252 geometry_msgs/Point[] object_points\n\
00253 geometry_msgs/Point[] image_points\n\
00254 uint8 success\n\
00255 \n\
00256 ================================================================================\n\
00257 MSG: geometry_msgs/Point\n\
00258 # This contains the position of a point in free space\n\
00259 float64 x\n\
00260 float64 y\n\
00261 float64 z\n\
00262 \n\
00263 ================================================================================\n\
00264 MSG: calibration_msgs/JointStateCalibrationPattern\n\
00265 Header header\n\
00266 geometry_msgs/Point[] object_points\n\
00267 sensor_msgs/JointState[] joint_points\n\
00268 \n\
00269 \n\
00270 ";
00271 }
00272
00273 static const char* value(const ::calibration_msgs::LaserMeasurement_<ContainerAllocator> &) { return value(); }
00274 };
00275
00276 template<class ContainerAllocator> struct HasHeader< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> > : public TrueType {};
00277 template<class ContainerAllocator> struct HasHeader< const ::calibration_msgs::LaserMeasurement_<ContainerAllocator> > : public TrueType {};
00278 }
00279 }
00280
00281 namespace ros
00282 {
00283 namespace serialization
00284 {
00285
00286 template<class ContainerAllocator> struct Serializer< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> >
00287 {
00288 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00289 {
00290 stream.next(m.header);
00291 stream.next(m.laser_id);
00292 stream.next(m.joint_points);
00293 stream.next(m.verbose);
00294 stream.next(m.snapshot);
00295 stream.next(m.laser_image);
00296 stream.next(m.image_features);
00297 stream.next(m.joint_features);
00298 }
00299
00300 ROS_DECLARE_ALLINONE_SERIALIZER;
00301 };
00302 }
00303 }
00304
00305 namespace ros
00306 {
00307 namespace message_operations
00308 {
00309
00310 template<class ContainerAllocator>
00311 struct Printer< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> >
00312 {
00313 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::calibration_msgs::LaserMeasurement_<ContainerAllocator> & v)
00314 {
00315 s << indent << "header: ";
00316 s << std::endl;
00317 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00318 s << indent << "laser_id: ";
00319 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.laser_id);
00320 s << indent << "joint_points[]" << std::endl;
00321 for (size_t i = 0; i < v.joint_points.size(); ++i)
00322 {
00323 s << indent << " joint_points[" << i << "]: ";
00324 s << std::endl;
00325 s << indent;
00326 Printer< ::sensor_msgs::JointState_<ContainerAllocator> >::stream(s, indent + " ", v.joint_points[i]);
00327 }
00328 s << indent << "verbose: ";
00329 Printer<uint8_t>::stream(s, indent + " ", v.verbose);
00330 s << indent << "snapshot: ";
00331 s << std::endl;
00332 Printer< ::calibration_msgs::DenseLaserSnapshot_<ContainerAllocator> >::stream(s, indent + " ", v.snapshot);
00333 s << indent << "laser_image: ";
00334 s << std::endl;
00335 Printer< ::sensor_msgs::Image_<ContainerAllocator> >::stream(s, indent + " ", v.laser_image);
00336 s << indent << "image_features: ";
00337 s << std::endl;
00338 Printer< ::calibration_msgs::CalibrationPattern_<ContainerAllocator> >::stream(s, indent + " ", v.image_features);
00339 s << indent << "joint_features: ";
00340 s << std::endl;
00341 Printer< ::calibration_msgs::JointStateCalibrationPattern_<ContainerAllocator> >::stream(s, indent + " ", v.joint_features);
00342 }
00343 };
00344
00345
00346 }
00347 }
00348
00349 #endif // CALIBRATION_MSGS_MESSAGE_LASERMEASUREMENT_H
00350