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00002 #ifndef PCL_MESSAGE_POLYGONMESH_H
00003 #define PCL_MESSAGE_POLYGONMESH_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/PointCloud2.h"
00019 #include "pcl/Vertices.h"
00020
00021 namespace pcl
00022 {
00023 template <class ContainerAllocator>
00024 struct PolygonMesh_ {
00025 typedef PolygonMesh_<ContainerAllocator> Type;
00026
00027 PolygonMesh_()
00028 : header()
00029 , cloud()
00030 , polygons()
00031 {
00032 }
00033
00034 PolygonMesh_(const ContainerAllocator& _alloc)
00035 : header(_alloc)
00036 , cloud(_alloc)
00037 , polygons(_alloc)
00038 {
00039 }
00040
00041 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00042 ::std_msgs::Header_<ContainerAllocator> header;
00043
00044 typedef ::sensor_msgs::PointCloud2_<ContainerAllocator> _cloud_type;
00045 ::sensor_msgs::PointCloud2_<ContainerAllocator> cloud;
00046
00047 typedef std::vector< ::pcl::Vertices_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::pcl::Vertices_<ContainerAllocator> >::other > _polygons_type;
00048 std::vector< ::pcl::Vertices_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::pcl::Vertices_<ContainerAllocator> >::other > polygons;
00049
00050
00051 typedef boost::shared_ptr< ::pcl::PolygonMesh_<ContainerAllocator> > Ptr;
00052 typedef boost::shared_ptr< ::pcl::PolygonMesh_<ContainerAllocator> const> ConstPtr;
00053 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00054 };
00055 typedef ::pcl::PolygonMesh_<std::allocator<void> > PolygonMesh;
00056
00057 typedef boost::shared_ptr< ::pcl::PolygonMesh> PolygonMeshPtr;
00058 typedef boost::shared_ptr< ::pcl::PolygonMesh const> PolygonMeshConstPtr;
00059
00060
00061 template<typename ContainerAllocator>
00062 std::ostream& operator<<(std::ostream& s, const ::pcl::PolygonMesh_<ContainerAllocator> & v)
00063 {
00064 ros::message_operations::Printer< ::pcl::PolygonMesh_<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< ::pcl::PolygonMesh_<ContainerAllocator> > : public TrueType {};
00074 template<class ContainerAllocator> struct IsMessage< ::pcl::PolygonMesh_<ContainerAllocator> const> : public TrueType {};
00075 template<class ContainerAllocator>
00076 struct MD5Sum< ::pcl::PolygonMesh_<ContainerAllocator> > {
00077 static const char* value()
00078 {
00079 return "45a5fc6ad2cde8489600a790acc9a38a";
00080 }
00081
00082 static const char* value(const ::pcl::PolygonMesh_<ContainerAllocator> &) { return value(); }
00083 static const uint64_t static_value1 = 0x45a5fc6ad2cde848ULL;
00084 static const uint64_t static_value2 = 0x9600a790acc9a38aULL;
00085 };
00086
00087 template<class ContainerAllocator>
00088 struct DataType< ::pcl::PolygonMesh_<ContainerAllocator> > {
00089 static const char* value()
00090 {
00091 return "pcl/PolygonMesh";
00092 }
00093
00094 static const char* value(const ::pcl::PolygonMesh_<ContainerAllocator> &) { return value(); }
00095 };
00096
00097 template<class ContainerAllocator>
00098 struct Definition< ::pcl::PolygonMesh_<ContainerAllocator> > {
00099 static const char* value()
00100 {
00101 return "# Separate header for the polygonal surface\n\
00102 Header header\n\
00103 # Vertices of the mesh as a point cloud\n\
00104 sensor_msgs/PointCloud2 cloud\n\
00105 # List of polygons\n\
00106 Vertices[] polygons\n\
00107 \n\
00108 ================================================================================\n\
00109 MSG: std_msgs/Header\n\
00110 # Standard metadata for higher-level stamped data types.\n\
00111 # This is generally used to communicate timestamped data \n\
00112 # in a particular coordinate frame.\n\
00113 # \n\
00114 # sequence ID: consecutively increasing ID \n\
00115 uint32 seq\n\
00116 #Two-integer timestamp that is expressed as:\n\
00117 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00118 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00119 # time-handling sugar is provided by the client library\n\
00120 time stamp\n\
00121 #Frame this data is associated with\n\
00122 # 0: no frame\n\
00123 # 1: global frame\n\
00124 string frame_id\n\
00125 \n\
00126 ================================================================================\n\
00127 MSG: sensor_msgs/PointCloud2\n\
00128 # This message holds a collection of N-dimensional points, which may\n\
00129 # contain additional information such as normals, intensity, etc. The\n\
00130 # point data is stored as a binary blob, its layout described by the\n\
00131 # contents of the \"fields\" array.\n\
00132 \n\
00133 # The point cloud data may be organized 2d (image-like) or 1d\n\
00134 # (unordered). Point clouds organized as 2d images may be produced by\n\
00135 # camera depth sensors such as stereo or time-of-flight.\n\
00136 \n\
00137 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00138 # points).\n\
00139 Header header\n\
00140 \n\
00141 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00142 # 1 and width is the length of the point cloud.\n\
00143 uint32 height\n\
00144 uint32 width\n\
00145 \n\
00146 # Describes the channels and their layout in the binary data blob.\n\
00147 PointField[] fields\n\
00148 \n\
00149 bool is_bigendian # Is this data bigendian?\n\
00150 uint32 point_step # Length of a point in bytes\n\
00151 uint32 row_step # Length of a row in bytes\n\
00152 uint8[] data # Actual point data, size is (row_step*height)\n\
00153 \n\
00154 bool is_dense # True if there are no invalid points\n\
00155 \n\
00156 ================================================================================\n\
00157 MSG: sensor_msgs/PointField\n\
00158 # This message holds the description of one point entry in the\n\
00159 # PointCloud2 message format.\n\
00160 uint8 INT8 = 1\n\
00161 uint8 UINT8 = 2\n\
00162 uint8 INT16 = 3\n\
00163 uint8 UINT16 = 4\n\
00164 uint8 INT32 = 5\n\
00165 uint8 UINT32 = 6\n\
00166 uint8 FLOAT32 = 7\n\
00167 uint8 FLOAT64 = 8\n\
00168 \n\
00169 string name # Name of field\n\
00170 uint32 offset # Offset from start of point struct\n\
00171 uint8 datatype # Datatype enumeration, see above\n\
00172 uint32 count # How many elements in the field\n\
00173 \n\
00174 ================================================================================\n\
00175 MSG: pcl/Vertices\n\
00176 # List of point indices\n\
00177 uint32[] vertices\n\
00178 \n\
00179 ";
00180 }
00181
00182 static const char* value(const ::pcl::PolygonMesh_<ContainerAllocator> &) { return value(); }
00183 };
00184
00185 template<class ContainerAllocator> struct HasHeader< ::pcl::PolygonMesh_<ContainerAllocator> > : public TrueType {};
00186 template<class ContainerAllocator> struct HasHeader< const ::pcl::PolygonMesh_<ContainerAllocator> > : public TrueType {};
00187 }
00188 }
00189
00190 namespace ros
00191 {
00192 namespace serialization
00193 {
00194
00195 template<class ContainerAllocator> struct Serializer< ::pcl::PolygonMesh_<ContainerAllocator> >
00196 {
00197 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00198 {
00199 stream.next(m.header);
00200 stream.next(m.cloud);
00201 stream.next(m.polygons);
00202 }
00203
00204 ROS_DECLARE_ALLINONE_SERIALIZER;
00205 };
00206 }
00207 }
00208
00209 namespace ros
00210 {
00211 namespace message_operations
00212 {
00213
00214 template<class ContainerAllocator>
00215 struct Printer< ::pcl::PolygonMesh_<ContainerAllocator> >
00216 {
00217 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pcl::PolygonMesh_<ContainerAllocator> & v)
00218 {
00219 s << indent << "header: ";
00220 s << std::endl;
00221 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00222 s << indent << "cloud: ";
00223 s << std::endl;
00224 Printer< ::sensor_msgs::PointCloud2_<ContainerAllocator> >::stream(s, indent + " ", v.cloud);
00225 s << indent << "polygons[]" << std::endl;
00226 for (size_t i = 0; i < v.polygons.size(); ++i)
00227 {
00228 s << indent << " polygons[" << i << "]: ";
00229 s << std::endl;
00230 s << indent;
00231 Printer< ::pcl::Vertices_<ContainerAllocator> >::stream(s, indent + " ", v.polygons[i]);
00232 }
00233 }
00234 };
00235
00236
00237 }
00238 }
00239
00240 #endif // PCL_MESSAGE_POLYGONMESH_H
00241