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00002 #ifndef IRI_PERCEPTION_MSGS_SERVICE_FILTERPOINTCLOUD2_H
00003 #define IRI_PERCEPTION_MSGS_SERVICE_FILTERPOINTCLOUD2_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 "ros/service_traits.h"
00018
00019 #include "sensor_msgs/PointCloud2.h"
00020
00021
00022 #include "sensor_msgs/PointCloud2.h"
00023 #include "sensor_msgs/PointCloud2.h"
00024
00025 namespace iri_perception_msgs
00026 {
00027 template <class ContainerAllocator>
00028 struct FilterPointCloud2Request_ {
00029 typedef FilterPointCloud2Request_<ContainerAllocator> Type;
00030
00031 FilterPointCloud2Request_()
00032 : input()
00033 {
00034 }
00035
00036 FilterPointCloud2Request_(const ContainerAllocator& _alloc)
00037 : input(_alloc)
00038 {
00039 }
00040
00041 typedef ::sensor_msgs::PointCloud2_<ContainerAllocator> _input_type;
00042 ::sensor_msgs::PointCloud2_<ContainerAllocator> input;
00043
00044
00045 typedef boost::shared_ptr< ::iri_perception_msgs::FilterPointCloud2Request_<ContainerAllocator> > Ptr;
00046 typedef boost::shared_ptr< ::iri_perception_msgs::FilterPointCloud2Request_<ContainerAllocator> const> ConstPtr;
00047 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00048 };
00049 typedef ::iri_perception_msgs::FilterPointCloud2Request_<std::allocator<void> > FilterPointCloud2Request;
00050
00051 typedef boost::shared_ptr< ::iri_perception_msgs::FilterPointCloud2Request> FilterPointCloud2RequestPtr;
00052 typedef boost::shared_ptr< ::iri_perception_msgs::FilterPointCloud2Request const> FilterPointCloud2RequestConstPtr;
00053
00054
00055 template <class ContainerAllocator>
00056 struct FilterPointCloud2Response_ {
00057 typedef FilterPointCloud2Response_<ContainerAllocator> Type;
00058
00059 FilterPointCloud2Response_()
00060 : filtered_output()
00061 , residual_output()
00062 {
00063 }
00064
00065 FilterPointCloud2Response_(const ContainerAllocator& _alloc)
00066 : filtered_output(_alloc)
00067 , residual_output(_alloc)
00068 {
00069 }
00070
00071 typedef ::sensor_msgs::PointCloud2_<ContainerAllocator> _filtered_output_type;
00072 ::sensor_msgs::PointCloud2_<ContainerAllocator> filtered_output;
00073
00074 typedef ::sensor_msgs::PointCloud2_<ContainerAllocator> _residual_output_type;
00075 ::sensor_msgs::PointCloud2_<ContainerAllocator> residual_output;
00076
00077
00078 typedef boost::shared_ptr< ::iri_perception_msgs::FilterPointCloud2Response_<ContainerAllocator> > Ptr;
00079 typedef boost::shared_ptr< ::iri_perception_msgs::FilterPointCloud2Response_<ContainerAllocator> const> ConstPtr;
00080 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00081 };
00082 typedef ::iri_perception_msgs::FilterPointCloud2Response_<std::allocator<void> > FilterPointCloud2Response;
00083
00084 typedef boost::shared_ptr< ::iri_perception_msgs::FilterPointCloud2Response> FilterPointCloud2ResponsePtr;
00085 typedef boost::shared_ptr< ::iri_perception_msgs::FilterPointCloud2Response const> FilterPointCloud2ResponseConstPtr;
00086
00087 struct FilterPointCloud2
00088 {
00089
00090 typedef FilterPointCloud2Request Request;
00091 typedef FilterPointCloud2Response Response;
00092 Request request;
00093 Response response;
00094
00095 typedef Request RequestType;
00096 typedef Response ResponseType;
00097 };
00098 }
00099
00100 namespace ros
00101 {
00102 namespace message_traits
00103 {
00104 template<class ContainerAllocator> struct IsMessage< ::iri_perception_msgs::FilterPointCloud2Request_<ContainerAllocator> > : public TrueType {};
00105 template<class ContainerAllocator> struct IsMessage< ::iri_perception_msgs::FilterPointCloud2Request_<ContainerAllocator> const> : public TrueType {};
00106 template<class ContainerAllocator>
00107 struct MD5Sum< ::iri_perception_msgs::FilterPointCloud2Request_<ContainerAllocator> > {
00108 static const char* value()
00109 {
00110 return "55c5f2a1ba5379341fa496de58e8d437";
00111 }
00112
00113 static const char* value(const ::iri_perception_msgs::FilterPointCloud2Request_<ContainerAllocator> &) { return value(); }
00114 static const uint64_t static_value1 = 0x55c5f2a1ba537934ULL;
00115 static const uint64_t static_value2 = 0x1fa496de58e8d437ULL;
00116 };
00117
00118 template<class ContainerAllocator>
00119 struct DataType< ::iri_perception_msgs::FilterPointCloud2Request_<ContainerAllocator> > {
00120 static const char* value()
00121 {
00122 return "iri_perception_msgs/FilterPointCloud2Request";
00123 }
00124
00125 static const char* value(const ::iri_perception_msgs::FilterPointCloud2Request_<ContainerAllocator> &) { return value(); }
00126 };
00127
00128 template<class ContainerAllocator>
00129 struct Definition< ::iri_perception_msgs::FilterPointCloud2Request_<ContainerAllocator> > {
00130 static const char* value()
00131 {
00132 return "\n\
00133 sensor_msgs/PointCloud2 input\n\
00134 \n\
00135 ================================================================================\n\
00136 MSG: sensor_msgs/PointCloud2\n\
00137 # This message holds a collection of N-dimensional points, which may\n\
00138 # contain additional information such as normals, intensity, etc. The\n\
00139 # point data is stored as a binary blob, its layout described by the\n\
00140 # contents of the \"fields\" array.\n\
00141 \n\
00142 # The point cloud data may be organized 2d (image-like) or 1d\n\
00143 # (unordered). Point clouds organized as 2d images may be produced by\n\
00144 # camera depth sensors such as stereo or time-of-flight.\n\
00145 \n\
00146 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00147 # points).\n\
00148 Header header\n\
00149 \n\
00150 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00151 # 1 and width is the length of the point cloud.\n\
00152 uint32 height\n\
00153 uint32 width\n\
00154 \n\
00155 # Describes the channels and their layout in the binary data blob.\n\
00156 PointField[] fields\n\
00157 \n\
00158 bool is_bigendian # Is this data bigendian?\n\
00159 uint32 point_step # Length of a point in bytes\n\
00160 uint32 row_step # Length of a row in bytes\n\
00161 uint8[] data # Actual point data, size is (row_step*height)\n\
00162 \n\
00163 bool is_dense # True if there are no invalid points\n\
00164 \n\
00165 ================================================================================\n\
00166 MSG: std_msgs/Header\n\
00167 # Standard metadata for higher-level stamped data types.\n\
00168 # This is generally used to communicate timestamped data \n\
00169 # in a particular coordinate frame.\n\
00170 # \n\
00171 # sequence ID: consecutively increasing ID \n\
00172 uint32 seq\n\
00173 #Two-integer timestamp that is expressed as:\n\
00174 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00175 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00176 # time-handling sugar is provided by the client library\n\
00177 time stamp\n\
00178 #Frame this data is associated with\n\
00179 # 0: no frame\n\
00180 # 1: global frame\n\
00181 string frame_id\n\
00182 \n\
00183 ================================================================================\n\
00184 MSG: sensor_msgs/PointField\n\
00185 # This message holds the description of one point entry in the\n\
00186 # PointCloud2 message format.\n\
00187 uint8 INT8 = 1\n\
00188 uint8 UINT8 = 2\n\
00189 uint8 INT16 = 3\n\
00190 uint8 UINT16 = 4\n\
00191 uint8 INT32 = 5\n\
00192 uint8 UINT32 = 6\n\
00193 uint8 FLOAT32 = 7\n\
00194 uint8 FLOAT64 = 8\n\
00195 \n\
00196 string name # Name of field\n\
00197 uint32 offset # Offset from start of point struct\n\
00198 uint8 datatype # Datatype enumeration, see above\n\
00199 uint32 count # How many elements in the field\n\
00200 \n\
00201 ";
00202 }
00203
00204 static const char* value(const ::iri_perception_msgs::FilterPointCloud2Request_<ContainerAllocator> &) { return value(); }
00205 };
00206
00207 }
00208 }
00209
00210
00211 namespace ros
00212 {
00213 namespace message_traits
00214 {
00215 template<class ContainerAllocator> struct IsMessage< ::iri_perception_msgs::FilterPointCloud2Response_<ContainerAllocator> > : public TrueType {};
00216 template<class ContainerAllocator> struct IsMessage< ::iri_perception_msgs::FilterPointCloud2Response_<ContainerAllocator> const> : public TrueType {};
00217 template<class ContainerAllocator>
00218 struct MD5Sum< ::iri_perception_msgs::FilterPointCloud2Response_<ContainerAllocator> > {
00219 static const char* value()
00220 {
00221 return "00354e8a99b7de0b21d1eb19f63ca71f";
00222 }
00223
00224 static const char* value(const ::iri_perception_msgs::FilterPointCloud2Response_<ContainerAllocator> &) { return value(); }
00225 static const uint64_t static_value1 = 0x00354e8a99b7de0bULL;
00226 static const uint64_t static_value2 = 0x21d1eb19f63ca71fULL;
00227 };
00228
00229 template<class ContainerAllocator>
00230 struct DataType< ::iri_perception_msgs::FilterPointCloud2Response_<ContainerAllocator> > {
00231 static const char* value()
00232 {
00233 return "iri_perception_msgs/FilterPointCloud2Response";
00234 }
00235
00236 static const char* value(const ::iri_perception_msgs::FilterPointCloud2Response_<ContainerAllocator> &) { return value(); }
00237 };
00238
00239 template<class ContainerAllocator>
00240 struct Definition< ::iri_perception_msgs::FilterPointCloud2Response_<ContainerAllocator> > {
00241 static const char* value()
00242 {
00243 return "\n\
00244 sensor_msgs/PointCloud2 filtered_output\n\
00245 sensor_msgs/PointCloud2 residual_output\n\
00246 \n\
00247 \n\
00248 ================================================================================\n\
00249 MSG: sensor_msgs/PointCloud2\n\
00250 # This message holds a collection of N-dimensional points, which may\n\
00251 # contain additional information such as normals, intensity, etc. The\n\
00252 # point data is stored as a binary blob, its layout described by the\n\
00253 # contents of the \"fields\" array.\n\
00254 \n\
00255 # The point cloud data may be organized 2d (image-like) or 1d\n\
00256 # (unordered). Point clouds organized as 2d images may be produced by\n\
00257 # camera depth sensors such as stereo or time-of-flight.\n\
00258 \n\
00259 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00260 # points).\n\
00261 Header header\n\
00262 \n\
00263 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00264 # 1 and width is the length of the point cloud.\n\
00265 uint32 height\n\
00266 uint32 width\n\
00267 \n\
00268 # Describes the channels and their layout in the binary data blob.\n\
00269 PointField[] fields\n\
00270 \n\
00271 bool is_bigendian # Is this data bigendian?\n\
00272 uint32 point_step # Length of a point in bytes\n\
00273 uint32 row_step # Length of a row in bytes\n\
00274 uint8[] data # Actual point data, size is (row_step*height)\n\
00275 \n\
00276 bool is_dense # True if there are no invalid points\n\
00277 \n\
00278 ================================================================================\n\
00279 MSG: std_msgs/Header\n\
00280 # Standard metadata for higher-level stamped data types.\n\
00281 # This is generally used to communicate timestamped data \n\
00282 # in a particular coordinate frame.\n\
00283 # \n\
00284 # sequence ID: consecutively increasing ID \n\
00285 uint32 seq\n\
00286 #Two-integer timestamp that is expressed as:\n\
00287 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00288 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00289 # time-handling sugar is provided by the client library\n\
00290 time stamp\n\
00291 #Frame this data is associated with\n\
00292 # 0: no frame\n\
00293 # 1: global frame\n\
00294 string frame_id\n\
00295 \n\
00296 ================================================================================\n\
00297 MSG: sensor_msgs/PointField\n\
00298 # This message holds the description of one point entry in the\n\
00299 # PointCloud2 message format.\n\
00300 uint8 INT8 = 1\n\
00301 uint8 UINT8 = 2\n\
00302 uint8 INT16 = 3\n\
00303 uint8 UINT16 = 4\n\
00304 uint8 INT32 = 5\n\
00305 uint8 UINT32 = 6\n\
00306 uint8 FLOAT32 = 7\n\
00307 uint8 FLOAT64 = 8\n\
00308 \n\
00309 string name # Name of field\n\
00310 uint32 offset # Offset from start of point struct\n\
00311 uint8 datatype # Datatype enumeration, see above\n\
00312 uint32 count # How many elements in the field\n\
00313 \n\
00314 ";
00315 }
00316
00317 static const char* value(const ::iri_perception_msgs::FilterPointCloud2Response_<ContainerAllocator> &) { return value(); }
00318 };
00319
00320 }
00321 }
00322
00323 namespace ros
00324 {
00325 namespace serialization
00326 {
00327
00328 template<class ContainerAllocator> struct Serializer< ::iri_perception_msgs::FilterPointCloud2Request_<ContainerAllocator> >
00329 {
00330 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00331 {
00332 stream.next(m.input);
00333 }
00334
00335 ROS_DECLARE_ALLINONE_SERIALIZER;
00336 };
00337 }
00338 }
00339
00340
00341 namespace ros
00342 {
00343 namespace serialization
00344 {
00345
00346 template<class ContainerAllocator> struct Serializer< ::iri_perception_msgs::FilterPointCloud2Response_<ContainerAllocator> >
00347 {
00348 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00349 {
00350 stream.next(m.filtered_output);
00351 stream.next(m.residual_output);
00352 }
00353
00354 ROS_DECLARE_ALLINONE_SERIALIZER;
00355 };
00356 }
00357 }
00358
00359 namespace ros
00360 {
00361 namespace service_traits
00362 {
00363 template<>
00364 struct MD5Sum<iri_perception_msgs::FilterPointCloud2> {
00365 static const char* value()
00366 {
00367 return "fcbb89000e56ee58e19aa80be9fa6591";
00368 }
00369
00370 static const char* value(const iri_perception_msgs::FilterPointCloud2&) { return value(); }
00371 };
00372
00373 template<>
00374 struct DataType<iri_perception_msgs::FilterPointCloud2> {
00375 static const char* value()
00376 {
00377 return "iri_perception_msgs/FilterPointCloud2";
00378 }
00379
00380 static const char* value(const iri_perception_msgs::FilterPointCloud2&) { return value(); }
00381 };
00382
00383 template<class ContainerAllocator>
00384 struct MD5Sum<iri_perception_msgs::FilterPointCloud2Request_<ContainerAllocator> > {
00385 static const char* value()
00386 {
00387 return "fcbb89000e56ee58e19aa80be9fa6591";
00388 }
00389
00390 static const char* value(const iri_perception_msgs::FilterPointCloud2Request_<ContainerAllocator> &) { return value(); }
00391 };
00392
00393 template<class ContainerAllocator>
00394 struct DataType<iri_perception_msgs::FilterPointCloud2Request_<ContainerAllocator> > {
00395 static const char* value()
00396 {
00397 return "iri_perception_msgs/FilterPointCloud2";
00398 }
00399
00400 static const char* value(const iri_perception_msgs::FilterPointCloud2Request_<ContainerAllocator> &) { return value(); }
00401 };
00402
00403 template<class ContainerAllocator>
00404 struct MD5Sum<iri_perception_msgs::FilterPointCloud2Response_<ContainerAllocator> > {
00405 static const char* value()
00406 {
00407 return "fcbb89000e56ee58e19aa80be9fa6591";
00408 }
00409
00410 static const char* value(const iri_perception_msgs::FilterPointCloud2Response_<ContainerAllocator> &) { return value(); }
00411 };
00412
00413 template<class ContainerAllocator>
00414 struct DataType<iri_perception_msgs::FilterPointCloud2Response_<ContainerAllocator> > {
00415 static const char* value()
00416 {
00417 return "iri_perception_msgs/FilterPointCloud2";
00418 }
00419
00420 static const char* value(const iri_perception_msgs::FilterPointCloud2Response_<ContainerAllocator> &) { return value(); }
00421 };
00422
00423 }
00424 }
00425
00426 #endif // IRI_PERCEPTION_MSGS_SERVICE_FILTERPOINTCLOUD2_H
00427