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00002 #ifndef ARM_NAVIGATION_MSGS_SERVICE_GETCOLLISIONOBJECTS_H
00003 #define ARM_NAVIGATION_MSGS_SERVICE_GETCOLLISIONOBJECTS_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
00020
00021 #include "arm_navigation_msgs/CollisionMap.h"
00022 #include "arm_navigation_msgs/CollisionObject.h"
00023 #include "arm_navigation_msgs/AttachedCollisionObject.h"
00024
00025 namespace arm_navigation_msgs
00026 {
00027 template <class ContainerAllocator>
00028 struct GetCollisionObjectsRequest_ {
00029 typedef GetCollisionObjectsRequest_<ContainerAllocator> Type;
00030
00031 GetCollisionObjectsRequest_()
00032 : include_points(false)
00033 {
00034 }
00035
00036 GetCollisionObjectsRequest_(const ContainerAllocator& _alloc)
00037 : include_points(false)
00038 {
00039 }
00040
00041 typedef uint8_t _include_points_type;
00042 uint8_t include_points;
00043
00044
00045 typedef boost::shared_ptr< ::arm_navigation_msgs::GetCollisionObjectsRequest_<ContainerAllocator> > Ptr;
00046 typedef boost::shared_ptr< ::arm_navigation_msgs::GetCollisionObjectsRequest_<ContainerAllocator> const> ConstPtr;
00047 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00048 };
00049 typedef ::arm_navigation_msgs::GetCollisionObjectsRequest_<std::allocator<void> > GetCollisionObjectsRequest;
00050
00051 typedef boost::shared_ptr< ::arm_navigation_msgs::GetCollisionObjectsRequest> GetCollisionObjectsRequestPtr;
00052 typedef boost::shared_ptr< ::arm_navigation_msgs::GetCollisionObjectsRequest const> GetCollisionObjectsRequestConstPtr;
00053
00054
00055 template <class ContainerAllocator>
00056 struct GetCollisionObjectsResponse_ {
00057 typedef GetCollisionObjectsResponse_<ContainerAllocator> Type;
00058
00059 GetCollisionObjectsResponse_()
00060 : points()
00061 , collision_objects()
00062 , attached_collision_objects()
00063 {
00064 }
00065
00066 GetCollisionObjectsResponse_(const ContainerAllocator& _alloc)
00067 : points(_alloc)
00068 , collision_objects(_alloc)
00069 , attached_collision_objects(_alloc)
00070 {
00071 }
00072
00073 typedef ::arm_navigation_msgs::CollisionMap_<ContainerAllocator> _points_type;
00074 ::arm_navigation_msgs::CollisionMap_<ContainerAllocator> points;
00075
00076 typedef std::vector< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> >::other > _collision_objects_type;
00077 std::vector< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> >::other > collision_objects;
00078
00079 typedef std::vector< ::arm_navigation_msgs::AttachedCollisionObject_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::AttachedCollisionObject_<ContainerAllocator> >::other > _attached_collision_objects_type;
00080 std::vector< ::arm_navigation_msgs::AttachedCollisionObject_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::AttachedCollisionObject_<ContainerAllocator> >::other > attached_collision_objects;
00081
00082
00083 typedef boost::shared_ptr< ::arm_navigation_msgs::GetCollisionObjectsResponse_<ContainerAllocator> > Ptr;
00084 typedef boost::shared_ptr< ::arm_navigation_msgs::GetCollisionObjectsResponse_<ContainerAllocator> const> ConstPtr;
00085 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00086 };
00087 typedef ::arm_navigation_msgs::GetCollisionObjectsResponse_<std::allocator<void> > GetCollisionObjectsResponse;
00088
00089 typedef boost::shared_ptr< ::arm_navigation_msgs::GetCollisionObjectsResponse> GetCollisionObjectsResponsePtr;
00090 typedef boost::shared_ptr< ::arm_navigation_msgs::GetCollisionObjectsResponse const> GetCollisionObjectsResponseConstPtr;
00091
00092 struct GetCollisionObjects
00093 {
00094
00095 typedef GetCollisionObjectsRequest Request;
00096 typedef GetCollisionObjectsResponse Response;
00097 Request request;
00098 Response response;
00099
00100 typedef Request RequestType;
00101 typedef Response ResponseType;
00102 };
00103 }
00104
00105 namespace ros
00106 {
00107 namespace message_traits
00108 {
00109 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::GetCollisionObjectsRequest_<ContainerAllocator> > : public TrueType {};
00110 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::GetCollisionObjectsRequest_<ContainerAllocator> const> : public TrueType {};
00111 template<class ContainerAllocator>
00112 struct MD5Sum< ::arm_navigation_msgs::GetCollisionObjectsRequest_<ContainerAllocator> > {
00113 static const char* value()
00114 {
00115 return "3ae7288b23c84452d229e442c1673708";
00116 }
00117
00118 static const char* value(const ::arm_navigation_msgs::GetCollisionObjectsRequest_<ContainerAllocator> &) { return value(); }
00119 static const uint64_t static_value1 = 0x3ae7288b23c84452ULL;
00120 static const uint64_t static_value2 = 0xd229e442c1673708ULL;
00121 };
00122
00123 template<class ContainerAllocator>
00124 struct DataType< ::arm_navigation_msgs::GetCollisionObjectsRequest_<ContainerAllocator> > {
00125 static const char* value()
00126 {
00127 return "arm_navigation_msgs/GetCollisionObjectsRequest";
00128 }
00129
00130 static const char* value(const ::arm_navigation_msgs::GetCollisionObjectsRequest_<ContainerAllocator> &) { return value(); }
00131 };
00132
00133 template<class ContainerAllocator>
00134 struct Definition< ::arm_navigation_msgs::GetCollisionObjectsRequest_<ContainerAllocator> > {
00135 static const char* value()
00136 {
00137 return "\n\
00138 \n\
00139 \n\
00140 bool include_points\n\
00141 \n\
00142 ";
00143 }
00144
00145 static const char* value(const ::arm_navigation_msgs::GetCollisionObjectsRequest_<ContainerAllocator> &) { return value(); }
00146 };
00147
00148 template<class ContainerAllocator> struct IsFixedSize< ::arm_navigation_msgs::GetCollisionObjectsRequest_<ContainerAllocator> > : public TrueType {};
00149 }
00150 }
00151
00152
00153 namespace ros
00154 {
00155 namespace message_traits
00156 {
00157 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::GetCollisionObjectsResponse_<ContainerAllocator> > : public TrueType {};
00158 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::GetCollisionObjectsResponse_<ContainerAllocator> const> : public TrueType {};
00159 template<class ContainerAllocator>
00160 struct MD5Sum< ::arm_navigation_msgs::GetCollisionObjectsResponse_<ContainerAllocator> > {
00161 static const char* value()
00162 {
00163 return "c361b849f4eb74ea667a930b0b9dc801";
00164 }
00165
00166 static const char* value(const ::arm_navigation_msgs::GetCollisionObjectsResponse_<ContainerAllocator> &) { return value(); }
00167 static const uint64_t static_value1 = 0xc361b849f4eb74eaULL;
00168 static const uint64_t static_value2 = 0x667a930b0b9dc801ULL;
00169 };
00170
00171 template<class ContainerAllocator>
00172 struct DataType< ::arm_navigation_msgs::GetCollisionObjectsResponse_<ContainerAllocator> > {
00173 static const char* value()
00174 {
00175 return "arm_navigation_msgs/GetCollisionObjectsResponse";
00176 }
00177
00178 static const char* value(const ::arm_navigation_msgs::GetCollisionObjectsResponse_<ContainerAllocator> &) { return value(); }
00179 };
00180
00181 template<class ContainerAllocator>
00182 struct Definition< ::arm_navigation_msgs::GetCollisionObjectsResponse_<ContainerAllocator> > {
00183 static const char* value()
00184 {
00185 return "\n\
00186 arm_navigation_msgs/CollisionMap points\n\
00187 \n\
00188 arm_navigation_msgs/CollisionObject[] collision_objects\n\
00189 \n\
00190 arm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects\n\
00191 \n\
00192 \n\
00193 ================================================================================\n\
00194 MSG: arm_navigation_msgs/CollisionMap\n\
00195 #header for interpreting box positions\n\
00196 Header header\n\
00197 \n\
00198 #boxes for use in collision testing\n\
00199 OrientedBoundingBox[] boxes\n\
00200 \n\
00201 ================================================================================\n\
00202 MSG: std_msgs/Header\n\
00203 # Standard metadata for higher-level stamped data types.\n\
00204 # This is generally used to communicate timestamped data \n\
00205 # in a particular coordinate frame.\n\
00206 # \n\
00207 # sequence ID: consecutively increasing ID \n\
00208 uint32 seq\n\
00209 #Two-integer timestamp that is expressed as:\n\
00210 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00211 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00212 # time-handling sugar is provided by the client library\n\
00213 time stamp\n\
00214 #Frame this data is associated with\n\
00215 # 0: no frame\n\
00216 # 1: global frame\n\
00217 string frame_id\n\
00218 \n\
00219 ================================================================================\n\
00220 MSG: arm_navigation_msgs/OrientedBoundingBox\n\
00221 #the center of the box\n\
00222 geometry_msgs/Point32 center\n\
00223 \n\
00224 #the extents of the box, assuming the center is at the point\n\
00225 geometry_msgs/Point32 extents\n\
00226 \n\
00227 #the axis of the box\n\
00228 geometry_msgs/Point32 axis\n\
00229 \n\
00230 #the angle of rotation around the axis\n\
00231 float32 angle\n\
00232 \n\
00233 ================================================================================\n\
00234 MSG: geometry_msgs/Point32\n\
00235 # This contains the position of a point in free space(with 32 bits of precision).\n\
00236 # It is recommeded to use Point wherever possible instead of Point32. \n\
00237 # \n\
00238 # This recommendation is to promote interoperability. \n\
00239 #\n\
00240 # This message is designed to take up less space when sending\n\
00241 # lots of points at once, as in the case of a PointCloud. \n\
00242 \n\
00243 float32 x\n\
00244 float32 y\n\
00245 float32 z\n\
00246 ================================================================================\n\
00247 MSG: arm_navigation_msgs/CollisionObject\n\
00248 # a header, used for interpreting the poses\n\
00249 Header header\n\
00250 \n\
00251 # the id of the object\n\
00252 string id\n\
00253 \n\
00254 # The padding used for filtering points near the object.\n\
00255 # This does not affect collision checking for the object. \n\
00256 # Set to negative to get zero padding.\n\
00257 float32 padding\n\
00258 \n\
00259 #This contains what is to be done with the object\n\
00260 CollisionObjectOperation operation\n\
00261 \n\
00262 #the shapes associated with the object\n\
00263 arm_navigation_msgs/Shape[] shapes\n\
00264 \n\
00265 #the poses associated with the shapes - will be transformed using the header\n\
00266 geometry_msgs/Pose[] poses\n\
00267 \n\
00268 ================================================================================\n\
00269 MSG: arm_navigation_msgs/CollisionObjectOperation\n\
00270 #Puts the object into the environment\n\
00271 #or updates the object if already added\n\
00272 byte ADD=0\n\
00273 \n\
00274 #Removes the object from the environment entirely\n\
00275 byte REMOVE=1\n\
00276 \n\
00277 #Only valid within the context of a CollisionAttachedObject message\n\
00278 #Will be ignored if sent with an CollisionObject message\n\
00279 #Takes an attached object, detaches from the attached link\n\
00280 #But adds back in as regular object\n\
00281 byte DETACH_AND_ADD_AS_OBJECT=2\n\
00282 \n\
00283 #Only valid within the context of a CollisionAttachedObject message\n\
00284 #Will be ignored if sent with an CollisionObject message\n\
00285 #Takes current object in the environment and removes it as\n\
00286 #a regular object\n\
00287 byte ATTACH_AND_REMOVE_AS_OBJECT=3\n\
00288 \n\
00289 # Byte code for operation\n\
00290 byte operation\n\
00291 \n\
00292 ================================================================================\n\
00293 MSG: arm_navigation_msgs/Shape\n\
00294 byte SPHERE=0\n\
00295 byte BOX=1\n\
00296 byte CYLINDER=2\n\
00297 byte MESH=3\n\
00298 \n\
00299 byte type\n\
00300 \n\
00301 \n\
00302 #### define sphere, box, cylinder ####\n\
00303 # the origin of each shape is considered at the shape's center\n\
00304 \n\
00305 # for sphere\n\
00306 # radius := dimensions[0]\n\
00307 \n\
00308 # for cylinder\n\
00309 # radius := dimensions[0]\n\
00310 # length := dimensions[1]\n\
00311 # the length is along the Z axis\n\
00312 \n\
00313 # for box\n\
00314 # size_x := dimensions[0]\n\
00315 # size_y := dimensions[1]\n\
00316 # size_z := dimensions[2]\n\
00317 float64[] dimensions\n\
00318 \n\
00319 \n\
00320 #### define mesh ####\n\
00321 \n\
00322 # list of triangles; triangle k is defined by tre vertices located\n\
00323 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00324 int32[] triangles\n\
00325 geometry_msgs/Point[] vertices\n\
00326 \n\
00327 ================================================================================\n\
00328 MSG: geometry_msgs/Point\n\
00329 # This contains the position of a point in free space\n\
00330 float64 x\n\
00331 float64 y\n\
00332 float64 z\n\
00333 \n\
00334 ================================================================================\n\
00335 MSG: geometry_msgs/Pose\n\
00336 # A representation of pose in free space, composed of postion and orientation. \n\
00337 Point position\n\
00338 Quaternion orientation\n\
00339 \n\
00340 ================================================================================\n\
00341 MSG: geometry_msgs/Quaternion\n\
00342 # This represents an orientation in free space in quaternion form.\n\
00343 \n\
00344 float64 x\n\
00345 float64 y\n\
00346 float64 z\n\
00347 float64 w\n\
00348 \n\
00349 ================================================================================\n\
00350 MSG: arm_navigation_msgs/AttachedCollisionObject\n\
00351 # The CollisionObject will be attached with a fixed joint to this link\n\
00352 # If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation \n\
00353 # is set to REMOVE will remove all attached bodies attached to any object\n\
00354 string link_name\n\
00355 \n\
00356 #Reserved for indicating that all attached objects should be removed\n\
00357 string REMOVE_ALL_ATTACHED_OBJECTS = \"all\"\n\
00358 \n\
00359 #This contains the actual shapes and poses for the CollisionObject\n\
00360 #to be attached to the link\n\
00361 #If action is remove and no object.id is set, all objects\n\
00362 #attached to the link indicated by link_name will be removed\n\
00363 CollisionObject object\n\
00364 \n\
00365 # The set of links that the attached objects are allowed to touch\n\
00366 # by default - the link_name is included by default\n\
00367 string[] touch_links\n\
00368 \n\
00369 ";
00370 }
00371
00372 static const char* value(const ::arm_navigation_msgs::GetCollisionObjectsResponse_<ContainerAllocator> &) { return value(); }
00373 };
00374
00375 }
00376 }
00377
00378 namespace ros
00379 {
00380 namespace serialization
00381 {
00382
00383 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::GetCollisionObjectsRequest_<ContainerAllocator> >
00384 {
00385 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00386 {
00387 stream.next(m.include_points);
00388 }
00389
00390 ROS_DECLARE_ALLINONE_SERIALIZER;
00391 };
00392 }
00393 }
00394
00395
00396 namespace ros
00397 {
00398 namespace serialization
00399 {
00400
00401 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::GetCollisionObjectsResponse_<ContainerAllocator> >
00402 {
00403 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00404 {
00405 stream.next(m.points);
00406 stream.next(m.collision_objects);
00407 stream.next(m.attached_collision_objects);
00408 }
00409
00410 ROS_DECLARE_ALLINONE_SERIALIZER;
00411 };
00412 }
00413 }
00414
00415 namespace ros
00416 {
00417 namespace service_traits
00418 {
00419 template<>
00420 struct MD5Sum<arm_navigation_msgs::GetCollisionObjects> {
00421 static const char* value()
00422 {
00423 return "8a4f57995c7be09c22ca01de6eb557ac";
00424 }
00425
00426 static const char* value(const arm_navigation_msgs::GetCollisionObjects&) { return value(); }
00427 };
00428
00429 template<>
00430 struct DataType<arm_navigation_msgs::GetCollisionObjects> {
00431 static const char* value()
00432 {
00433 return "arm_navigation_msgs/GetCollisionObjects";
00434 }
00435
00436 static const char* value(const arm_navigation_msgs::GetCollisionObjects&) { return value(); }
00437 };
00438
00439 template<class ContainerAllocator>
00440 struct MD5Sum<arm_navigation_msgs::GetCollisionObjectsRequest_<ContainerAllocator> > {
00441 static const char* value()
00442 {
00443 return "8a4f57995c7be09c22ca01de6eb557ac";
00444 }
00445
00446 static const char* value(const arm_navigation_msgs::GetCollisionObjectsRequest_<ContainerAllocator> &) { return value(); }
00447 };
00448
00449 template<class ContainerAllocator>
00450 struct DataType<arm_navigation_msgs::GetCollisionObjectsRequest_<ContainerAllocator> > {
00451 static const char* value()
00452 {
00453 return "arm_navigation_msgs/GetCollisionObjects";
00454 }
00455
00456 static const char* value(const arm_navigation_msgs::GetCollisionObjectsRequest_<ContainerAllocator> &) { return value(); }
00457 };
00458
00459 template<class ContainerAllocator>
00460 struct MD5Sum<arm_navigation_msgs::GetCollisionObjectsResponse_<ContainerAllocator> > {
00461 static const char* value()
00462 {
00463 return "8a4f57995c7be09c22ca01de6eb557ac";
00464 }
00465
00466 static const char* value(const arm_navigation_msgs::GetCollisionObjectsResponse_<ContainerAllocator> &) { return value(); }
00467 };
00468
00469 template<class ContainerAllocator>
00470 struct DataType<arm_navigation_msgs::GetCollisionObjectsResponse_<ContainerAllocator> > {
00471 static const char* value()
00472 {
00473 return "arm_navigation_msgs/GetCollisionObjects";
00474 }
00475
00476 static const char* value(const arm_navigation_msgs::GetCollisionObjectsResponse_<ContainerAllocator> &) { return value(); }
00477 };
00478
00479 }
00480 }
00481
00482 #endif // ARM_NAVIGATION_MSGS_SERVICE_GETCOLLISIONOBJECTS_H
00483