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00002 #ifndef FLIRTLIB_ROS_MESSAGE_REFSCANROS_H
00003 #define FLIRTLIB_ROS_MESSAGE_REFSCANROS_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 "sensor_msgs/LaserScan.h"
00018 #include "geometry_msgs/Pose.h"
00019 #include "flirtlib_ros/InterestPointRos.h"
00020
00021 namespace flirtlib_ros
00022 {
00023 template <class ContainerAllocator>
00024 struct RefScanRos_ {
00025 typedef RefScanRos_<ContainerAllocator> Type;
00026
00027 RefScanRos_()
00028 : scan()
00029 , pose()
00030 , pts()
00031 {
00032 }
00033
00034 RefScanRos_(const ContainerAllocator& _alloc)
00035 : scan(_alloc)
00036 , pose(_alloc)
00037 , pts(_alloc)
00038 {
00039 }
00040
00041 typedef ::sensor_msgs::LaserScan_<ContainerAllocator> _scan_type;
00042 ::sensor_msgs::LaserScan_<ContainerAllocator> scan;
00043
00044 typedef ::geometry_msgs::Pose_<ContainerAllocator> _pose_type;
00045 ::geometry_msgs::Pose_<ContainerAllocator> pose;
00046
00047 typedef std::vector< ::flirtlib_ros::InterestPointRos_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::flirtlib_ros::InterestPointRos_<ContainerAllocator> >::other > _pts_type;
00048 std::vector< ::flirtlib_ros::InterestPointRos_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::flirtlib_ros::InterestPointRos_<ContainerAllocator> >::other > pts;
00049
00050
00051 typedef boost::shared_ptr< ::flirtlib_ros::RefScanRos_<ContainerAllocator> > Ptr;
00052 typedef boost::shared_ptr< ::flirtlib_ros::RefScanRos_<ContainerAllocator> const> ConstPtr;
00053 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00054 };
00055 typedef ::flirtlib_ros::RefScanRos_<std::allocator<void> > RefScanRos;
00056
00057 typedef boost::shared_ptr< ::flirtlib_ros::RefScanRos> RefScanRosPtr;
00058 typedef boost::shared_ptr< ::flirtlib_ros::RefScanRos const> RefScanRosConstPtr;
00059
00060
00061 template<typename ContainerAllocator>
00062 std::ostream& operator<<(std::ostream& s, const ::flirtlib_ros::RefScanRos_<ContainerAllocator> & v)
00063 {
00064 ros::message_operations::Printer< ::flirtlib_ros::RefScanRos_<ContainerAllocator> >::stream(s, "", v);
00065 return s;}
00066
00067 }
00068
00069 namespace ros
00070 {
00071 namespace message_traits
00072 {
00073 template<class ContainerAllocator> struct IsMessage< ::flirtlib_ros::RefScanRos_<ContainerAllocator> > : public TrueType {};
00074 template<class ContainerAllocator> struct IsMessage< ::flirtlib_ros::RefScanRos_<ContainerAllocator> const> : public TrueType {};
00075 template<class ContainerAllocator>
00076 struct MD5Sum< ::flirtlib_ros::RefScanRos_<ContainerAllocator> > {
00077 static const char* value()
00078 {
00079 return "11956f8796f4796e1612ff817c3f3dca";
00080 }
00081
00082 static const char* value(const ::flirtlib_ros::RefScanRos_<ContainerAllocator> &) { return value(); }
00083 static const uint64_t static_value1 = 0x11956f8796f4796eULL;
00084 static const uint64_t static_value2 = 0x1612ff817c3f3dcaULL;
00085 };
00086
00087 template<class ContainerAllocator>
00088 struct DataType< ::flirtlib_ros::RefScanRos_<ContainerAllocator> > {
00089 static const char* value()
00090 {
00091 return "flirtlib_ros/RefScanRos";
00092 }
00093
00094 static const char* value(const ::flirtlib_ros::RefScanRos_<ContainerAllocator> &) { return value(); }
00095 };
00096
00097 template<class ContainerAllocator>
00098 struct Definition< ::flirtlib_ros::RefScanRos_<ContainerAllocator> > {
00099 static const char* value()
00100 {
00101 return "sensor_msgs/LaserScan scan\n\
00102 geometry_msgs/Pose pose\n\
00103 InterestPointRos[] pts\n\
00104 ================================================================================\n\
00105 MSG: sensor_msgs/LaserScan\n\
00106 # Single scan from a planar laser range-finder\n\
00107 #\n\
00108 # If you have another ranging device with different behavior (e.g. a sonar\n\
00109 # array), please find or create a different message, since applications\n\
00110 # will make fairly laser-specific assumptions about this data\n\
00111 \n\
00112 Header header # timestamp in the header is the acquisition time of \n\
00113 # the first ray in the scan.\n\
00114 #\n\
00115 # in frame frame_id, angles are measured around \n\
00116 # the positive Z axis (counterclockwise, if Z is up)\n\
00117 # with zero angle being forward along the x axis\n\
00118 \n\
00119 float32 angle_min # start angle of the scan [rad]\n\
00120 float32 angle_max # end angle of the scan [rad]\n\
00121 float32 angle_increment # angular distance between measurements [rad]\n\
00122 \n\
00123 float32 time_increment # time between measurements [seconds] - if your scanner\n\
00124 # is moving, this will be used in interpolating position\n\
00125 # of 3d points\n\
00126 float32 scan_time # time between scans [seconds]\n\
00127 \n\
00128 float32 range_min # minimum range value [m]\n\
00129 float32 range_max # maximum range value [m]\n\
00130 \n\
00131 float32[] ranges # range data [m] (Note: values < range_min or > range_max should be discarded)\n\
00132 float32[] intensities # intensity data [device-specific units]. If your\n\
00133 # device does not provide intensities, please leave\n\
00134 # the array empty.\n\
00135 \n\
00136 ================================================================================\n\
00137 MSG: std_msgs/Header\n\
00138 # Standard metadata for higher-level stamped data types.\n\
00139 # This is generally used to communicate timestamped data \n\
00140 # in a particular coordinate frame.\n\
00141 # \n\
00142 # sequence ID: consecutively increasing ID \n\
00143 uint32 seq\n\
00144 #Two-integer timestamp that is expressed as:\n\
00145 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00146 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00147 # time-handling sugar is provided by the client library\n\
00148 time stamp\n\
00149 #Frame this data is associated with\n\
00150 # 0: no frame\n\
00151 # 1: global frame\n\
00152 string frame_id\n\
00153 \n\
00154 ================================================================================\n\
00155 MSG: geometry_msgs/Pose\n\
00156 # A representation of pose in free space, composed of postion and orientation. \n\
00157 Point position\n\
00158 Quaternion orientation\n\
00159 \n\
00160 ================================================================================\n\
00161 MSG: geometry_msgs/Point\n\
00162 # This contains the position of a point in free space\n\
00163 float64 x\n\
00164 float64 y\n\
00165 float64 z\n\
00166 \n\
00167 ================================================================================\n\
00168 MSG: geometry_msgs/Quaternion\n\
00169 # This represents an orientation in free space in quaternion form.\n\
00170 \n\
00171 float64 x\n\
00172 float64 y\n\
00173 float64 z\n\
00174 float64 w\n\
00175 \n\
00176 ================================================================================\n\
00177 MSG: flirtlib_ros/InterestPointRos\n\
00178 # Corresponds to the InterestPoint type in flirtlib\n\
00179 # Includes both the point location and optionally a descriptor\n\
00180 \n\
00181 geometry_msgs/Pose2D pose\n\
00182 \n\
00183 geometry_msgs/Point[] support_points\n\
00184 \n\
00185 float32 scale\n\
00186 \n\
00187 uint32 scale_level\n\
00188 \n\
00189 DescriptorRos descriptor\n\
00190 \n\
00191 \n\
00192 ================================================================================\n\
00193 MSG: geometry_msgs/Pose2D\n\
00194 # This expresses a position and orientation on a 2D manifold.\n\
00195 \n\
00196 float64 x\n\
00197 float64 y\n\
00198 float64 theta\n\
00199 ================================================================================\n\
00200 MSG: flirtlib_ros/DescriptorRos\n\
00201 # Confirms to the Descriptor type in flirtlib\n\
00202 # For now, we only allow the beta grid descriptor\n\
00203 \n\
00204 Vector[] hist\n\
00205 Vector[] variance\n\
00206 Vector[] hit\n\
00207 Vector[] miss\n\
00208 \n\
00209 ================================================================================\n\
00210 MSG: flirtlib_ros/Vector\n\
00211 # Vector message type used by a bunch of the flirtlib messages\n\
00212 \n\
00213 float64[] vec\n\
00214 ";
00215 }
00216
00217 static const char* value(const ::flirtlib_ros::RefScanRos_<ContainerAllocator> &) { return value(); }
00218 };
00219
00220 }
00221 }
00222
00223 namespace ros
00224 {
00225 namespace serialization
00226 {
00227
00228 template<class ContainerAllocator> struct Serializer< ::flirtlib_ros::RefScanRos_<ContainerAllocator> >
00229 {
00230 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00231 {
00232 stream.next(m.scan);
00233 stream.next(m.pose);
00234 stream.next(m.pts);
00235 }
00236
00237 ROS_DECLARE_ALLINONE_SERIALIZER;
00238 };
00239 }
00240 }
00241
00242 namespace ros
00243 {
00244 namespace message_operations
00245 {
00246
00247 template<class ContainerAllocator>
00248 struct Printer< ::flirtlib_ros::RefScanRos_<ContainerAllocator> >
00249 {
00250 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::flirtlib_ros::RefScanRos_<ContainerAllocator> & v)
00251 {
00252 s << indent << "scan: ";
00253 s << std::endl;
00254 Printer< ::sensor_msgs::LaserScan_<ContainerAllocator> >::stream(s, indent + " ", v.scan);
00255 s << indent << "pose: ";
00256 s << std::endl;
00257 Printer< ::geometry_msgs::Pose_<ContainerAllocator> >::stream(s, indent + " ", v.pose);
00258 s << indent << "pts[]" << std::endl;
00259 for (size_t i = 0; i < v.pts.size(); ++i)
00260 {
00261 s << indent << " pts[" << i << "]: ";
00262 s << std::endl;
00263 s << indent;
00264 Printer< ::flirtlib_ros::InterestPointRos_<ContainerAllocator> >::stream(s, indent + " ", v.pts[i]);
00265 }
00266 }
00267 };
00268
00269
00270 }
00271 }
00272
00273 #endif // FLIRTLIB_ROS_MESSAGE_REFSCANROS_H
00274