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00002 #ifndef PR2_MECHANISM_CONTROLLERS_MESSAGE_BASEODOMETRYSTATE_H
00003 #define PR2_MECHANISM_CONTROLLERS_MESSAGE_BASEODOMETRYSTATE_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 "geometry_msgs/Twist.h"
00018
00019 namespace pr2_mechanism_controllers
00020 {
00021 template <class ContainerAllocator>
00022 struct BaseOdometryState_ {
00023 typedef BaseOdometryState_<ContainerAllocator> Type;
00024
00025 BaseOdometryState_()
00026 : velocity()
00027 , wheel_link_names()
00028 , drive_constraint_errors()
00029 , longitudinal_slip_constraint_errors()
00030 {
00031 }
00032
00033 BaseOdometryState_(const ContainerAllocator& _alloc)
00034 : velocity(_alloc)
00035 , wheel_link_names(_alloc)
00036 , drive_constraint_errors(_alloc)
00037 , longitudinal_slip_constraint_errors(_alloc)
00038 {
00039 }
00040
00041 typedef ::geometry_msgs::Twist_<ContainerAllocator> _velocity_type;
00042 ::geometry_msgs::Twist_<ContainerAllocator> velocity;
00043
00044 typedef std::vector<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > , typename ContainerAllocator::template rebind<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::other > _wheel_link_names_type;
00045 std::vector<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > , typename ContainerAllocator::template rebind<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::other > wheel_link_names;
00046
00047 typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _drive_constraint_errors_type;
00048 std::vector<double, typename ContainerAllocator::template rebind<double>::other > drive_constraint_errors;
00049
00050 typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _longitudinal_slip_constraint_errors_type;
00051 std::vector<double, typename ContainerAllocator::template rebind<double>::other > longitudinal_slip_constraint_errors;
00052
00053
00054 typedef boost::shared_ptr< ::pr2_mechanism_controllers::BaseOdometryState_<ContainerAllocator> > Ptr;
00055 typedef boost::shared_ptr< ::pr2_mechanism_controllers::BaseOdometryState_<ContainerAllocator> const> ConstPtr;
00056 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00057 };
00058 typedef ::pr2_mechanism_controllers::BaseOdometryState_<std::allocator<void> > BaseOdometryState;
00059
00060 typedef boost::shared_ptr< ::pr2_mechanism_controllers::BaseOdometryState> BaseOdometryStatePtr;
00061 typedef boost::shared_ptr< ::pr2_mechanism_controllers::BaseOdometryState const> BaseOdometryStateConstPtr;
00062
00063
00064 template<typename ContainerAllocator>
00065 std::ostream& operator<<(std::ostream& s, const ::pr2_mechanism_controllers::BaseOdometryState_<ContainerAllocator> & v)
00066 {
00067 ros::message_operations::Printer< ::pr2_mechanism_controllers::BaseOdometryState_<ContainerAllocator> >::stream(s, "", v);
00068 return s;}
00069
00070 }
00071
00072 namespace ros
00073 {
00074 namespace message_traits
00075 {
00076 template<class ContainerAllocator> struct IsMessage< ::pr2_mechanism_controllers::BaseOdometryState_<ContainerAllocator> > : public TrueType {};
00077 template<class ContainerAllocator> struct IsMessage< ::pr2_mechanism_controllers::BaseOdometryState_<ContainerAllocator> const> : public TrueType {};
00078 template<class ContainerAllocator>
00079 struct MD5Sum< ::pr2_mechanism_controllers::BaseOdometryState_<ContainerAllocator> > {
00080 static const char* value()
00081 {
00082 return "8a483e137ebc37abafa4c26549091dd6";
00083 }
00084
00085 static const char* value(const ::pr2_mechanism_controllers::BaseOdometryState_<ContainerAllocator> &) { return value(); }
00086 static const uint64_t static_value1 = 0x8a483e137ebc37abULL;
00087 static const uint64_t static_value2 = 0xafa4c26549091dd6ULL;
00088 };
00089
00090 template<class ContainerAllocator>
00091 struct DataType< ::pr2_mechanism_controllers::BaseOdometryState_<ContainerAllocator> > {
00092 static const char* value()
00093 {
00094 return "pr2_mechanism_controllers/BaseOdometryState";
00095 }
00096
00097 static const char* value(const ::pr2_mechanism_controllers::BaseOdometryState_<ContainerAllocator> &) { return value(); }
00098 };
00099
00100 template<class ContainerAllocator>
00101 struct Definition< ::pr2_mechanism_controllers::BaseOdometryState_<ContainerAllocator> > {
00102 static const char* value()
00103 {
00104 return "geometry_msgs/Twist velocity\n\
00105 string[] wheel_link_names\n\
00106 float64[] drive_constraint_errors\n\
00107 float64[] longitudinal_slip_constraint_errors\n\
00108 ================================================================================\n\
00109 MSG: geometry_msgs/Twist\n\
00110 # This expresses velocity in free space broken into its linear and angular parts.\n\
00111 Vector3 linear\n\
00112 Vector3 angular\n\
00113 \n\
00114 ================================================================================\n\
00115 MSG: geometry_msgs/Vector3\n\
00116 # This represents a vector in free space. \n\
00117 \n\
00118 float64 x\n\
00119 float64 y\n\
00120 float64 z\n\
00121 ";
00122 }
00123
00124 static const char* value(const ::pr2_mechanism_controllers::BaseOdometryState_<ContainerAllocator> &) { return value(); }
00125 };
00126
00127 }
00128 }
00129
00130 namespace ros
00131 {
00132 namespace serialization
00133 {
00134
00135 template<class ContainerAllocator> struct Serializer< ::pr2_mechanism_controllers::BaseOdometryState_<ContainerAllocator> >
00136 {
00137 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00138 {
00139 stream.next(m.velocity);
00140 stream.next(m.wheel_link_names);
00141 stream.next(m.drive_constraint_errors);
00142 stream.next(m.longitudinal_slip_constraint_errors);
00143 }
00144
00145 ROS_DECLARE_ALLINONE_SERIALIZER;
00146 };
00147 }
00148 }
00149
00150 namespace ros
00151 {
00152 namespace message_operations
00153 {
00154
00155 template<class ContainerAllocator>
00156 struct Printer< ::pr2_mechanism_controllers::BaseOdometryState_<ContainerAllocator> >
00157 {
00158 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_mechanism_controllers::BaseOdometryState_<ContainerAllocator> & v)
00159 {
00160 s << indent << "velocity: ";
00161 s << std::endl;
00162 Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + " ", v.velocity);
00163 s << indent << "wheel_link_names[]" << std::endl;
00164 for (size_t i = 0; i < v.wheel_link_names.size(); ++i)
00165 {
00166 s << indent << " wheel_link_names[" << i << "]: ";
00167 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.wheel_link_names[i]);
00168 }
00169 s << indent << "drive_constraint_errors[]" << std::endl;
00170 for (size_t i = 0; i < v.drive_constraint_errors.size(); ++i)
00171 {
00172 s << indent << " drive_constraint_errors[" << i << "]: ";
00173 Printer<double>::stream(s, indent + " ", v.drive_constraint_errors[i]);
00174 }
00175 s << indent << "longitudinal_slip_constraint_errors[]" << std::endl;
00176 for (size_t i = 0; i < v.longitudinal_slip_constraint_errors.size(); ++i)
00177 {
00178 s << indent << " longitudinal_slip_constraint_errors[" << i << "]: ";
00179 Printer<double>::stream(s, indent + " ", v.longitudinal_slip_constraint_errors[i]);
00180 }
00181 }
00182 };
00183
00184
00185 }
00186 }
00187
00188 #endif // PR2_MECHANISM_CONTROLLERS_MESSAGE_BASEODOMETRYSTATE_H
00189