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00002 #ifndef TRIANGULATE_POINT_CLOUD_SERVICE_TRIANGULATEPCL_H
00003 #define TRIANGULATE_POINT_CLOUD_SERVICE_TRIANGULATEPCL_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/PointCloud.h"
00020
00021
00022 #include "arm_navigation_msgs/Shape.h"
00023
00024 namespace triangulate_point_cloud
00025 {
00026 template <class ContainerAllocator>
00027 struct TriangulatePCLRequest_ {
00028 typedef TriangulatePCLRequest_<ContainerAllocator> Type;
00029
00030 TriangulatePCLRequest_()
00031 : points()
00032 {
00033 }
00034
00035 TriangulatePCLRequest_(const ContainerAllocator& _alloc)
00036 : points(_alloc)
00037 {
00038 }
00039
00040 typedef ::sensor_msgs::PointCloud_<ContainerAllocator> _points_type;
00041 ::sensor_msgs::PointCloud_<ContainerAllocator> points;
00042
00043
00044 typedef boost::shared_ptr< ::triangulate_point_cloud::TriangulatePCLRequest_<ContainerAllocator> > Ptr;
00045 typedef boost::shared_ptr< ::triangulate_point_cloud::TriangulatePCLRequest_<ContainerAllocator> const> ConstPtr;
00046 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00047 };
00048 typedef ::triangulate_point_cloud::TriangulatePCLRequest_<std::allocator<void> > TriangulatePCLRequest;
00049
00050 typedef boost::shared_ptr< ::triangulate_point_cloud::TriangulatePCLRequest> TriangulatePCLRequestPtr;
00051 typedef boost::shared_ptr< ::triangulate_point_cloud::TriangulatePCLRequest const> TriangulatePCLRequestConstPtr;
00052
00053
00054 template <class ContainerAllocator>
00055 struct TriangulatePCLResponse_ {
00056 typedef TriangulatePCLResponse_<ContainerAllocator> Type;
00057
00058 TriangulatePCLResponse_()
00059 : mesh()
00060 {
00061 }
00062
00063 TriangulatePCLResponse_(const ContainerAllocator& _alloc)
00064 : mesh(_alloc)
00065 {
00066 }
00067
00068 typedef ::arm_navigation_msgs::Shape_<ContainerAllocator> _mesh_type;
00069 ::arm_navigation_msgs::Shape_<ContainerAllocator> mesh;
00070
00071
00072 typedef boost::shared_ptr< ::triangulate_point_cloud::TriangulatePCLResponse_<ContainerAllocator> > Ptr;
00073 typedef boost::shared_ptr< ::triangulate_point_cloud::TriangulatePCLResponse_<ContainerAllocator> const> ConstPtr;
00074 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00075 };
00076 typedef ::triangulate_point_cloud::TriangulatePCLResponse_<std::allocator<void> > TriangulatePCLResponse;
00077
00078 typedef boost::shared_ptr< ::triangulate_point_cloud::TriangulatePCLResponse> TriangulatePCLResponsePtr;
00079 typedef boost::shared_ptr< ::triangulate_point_cloud::TriangulatePCLResponse const> TriangulatePCLResponseConstPtr;
00080
00081 struct TriangulatePCL
00082 {
00083
00084 typedef TriangulatePCLRequest Request;
00085 typedef TriangulatePCLResponse Response;
00086 Request request;
00087 Response response;
00088
00089 typedef Request RequestType;
00090 typedef Response ResponseType;
00091 };
00092 }
00093
00094 namespace ros
00095 {
00096 namespace message_traits
00097 {
00098 template<class ContainerAllocator> struct IsMessage< ::triangulate_point_cloud::TriangulatePCLRequest_<ContainerAllocator> > : public TrueType {};
00099 template<class ContainerAllocator> struct IsMessage< ::triangulate_point_cloud::TriangulatePCLRequest_<ContainerAllocator> const> : public TrueType {};
00100 template<class ContainerAllocator>
00101 struct MD5Sum< ::triangulate_point_cloud::TriangulatePCLRequest_<ContainerAllocator> > {
00102 static const char* value()
00103 {
00104 return "54a80efa9f266878f68875ef84938b67";
00105 }
00106
00107 static const char* value(const ::triangulate_point_cloud::TriangulatePCLRequest_<ContainerAllocator> &) { return value(); }
00108 static const uint64_t static_value1 = 0x54a80efa9f266878ULL;
00109 static const uint64_t static_value2 = 0xf68875ef84938b67ULL;
00110 };
00111
00112 template<class ContainerAllocator>
00113 struct DataType< ::triangulate_point_cloud::TriangulatePCLRequest_<ContainerAllocator> > {
00114 static const char* value()
00115 {
00116 return "triangulate_point_cloud/TriangulatePCLRequest";
00117 }
00118
00119 static const char* value(const ::triangulate_point_cloud::TriangulatePCLRequest_<ContainerAllocator> &) { return value(); }
00120 };
00121
00122 template<class ContainerAllocator>
00123 struct Definition< ::triangulate_point_cloud::TriangulatePCLRequest_<ContainerAllocator> > {
00124 static const char* value()
00125 {
00126 return "sensor_msgs/PointCloud points\n\
00127 \n\
00128 ================================================================================\n\
00129 MSG: sensor_msgs/PointCloud\n\
00130 # This message holds a collection of 3d points, plus optional additional\n\
00131 # information about each point.\n\
00132 \n\
00133 # Time of sensor data acquisition, coordinate frame ID.\n\
00134 Header header\n\
00135 \n\
00136 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00137 # in the frame given in the header.\n\
00138 geometry_msgs/Point32[] points\n\
00139 \n\
00140 # Each channel should have the same number of elements as points array,\n\
00141 # and the data in each channel should correspond 1:1 with each point.\n\
00142 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00143 ChannelFloat32[] channels\n\
00144 \n\
00145 ================================================================================\n\
00146 MSG: std_msgs/Header\n\
00147 # Standard metadata for higher-level stamped data types.\n\
00148 # This is generally used to communicate timestamped data \n\
00149 # in a particular coordinate frame.\n\
00150 # \n\
00151 # sequence ID: consecutively increasing ID \n\
00152 uint32 seq\n\
00153 #Two-integer timestamp that is expressed as:\n\
00154 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00155 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00156 # time-handling sugar is provided by the client library\n\
00157 time stamp\n\
00158 #Frame this data is associated with\n\
00159 # 0: no frame\n\
00160 # 1: global frame\n\
00161 string frame_id\n\
00162 \n\
00163 ================================================================================\n\
00164 MSG: geometry_msgs/Point32\n\
00165 # This contains the position of a point in free space(with 32 bits of precision).\n\
00166 # It is recommeded to use Point wherever possible instead of Point32. \n\
00167 # \n\
00168 # This recommendation is to promote interoperability. \n\
00169 #\n\
00170 # This message is designed to take up less space when sending\n\
00171 # lots of points at once, as in the case of a PointCloud. \n\
00172 \n\
00173 float32 x\n\
00174 float32 y\n\
00175 float32 z\n\
00176 ================================================================================\n\
00177 MSG: sensor_msgs/ChannelFloat32\n\
00178 # This message is used by the PointCloud message to hold optional data\n\
00179 # associated with each point in the cloud. The length of the values\n\
00180 # array should be the same as the length of the points array in the\n\
00181 # PointCloud, and each value should be associated with the corresponding\n\
00182 # point.\n\
00183 \n\
00184 # Channel names in existing practice include:\n\
00185 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00186 # This is opposite to usual conventions but remains for\n\
00187 # historical reasons. The newer PointCloud2 message has no\n\
00188 # such problem.\n\
00189 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00190 # (R,G,B) values packed into the least significant 24 bits,\n\
00191 # in order.\n\
00192 # \"intensity\" - laser or pixel intensity.\n\
00193 # \"distance\"\n\
00194 \n\
00195 # The channel name should give semantics of the channel (e.g.\n\
00196 # \"intensity\" instead of \"value\").\n\
00197 string name\n\
00198 \n\
00199 # The values array should be 1-1 with the elements of the associated\n\
00200 # PointCloud.\n\
00201 float32[] values\n\
00202 \n\
00203 ";
00204 }
00205
00206 static const char* value(const ::triangulate_point_cloud::TriangulatePCLRequest_<ContainerAllocator> &) { return value(); }
00207 };
00208
00209 }
00210 }
00211
00212
00213 namespace ros
00214 {
00215 namespace message_traits
00216 {
00217 template<class ContainerAllocator> struct IsMessage< ::triangulate_point_cloud::TriangulatePCLResponse_<ContainerAllocator> > : public TrueType {};
00218 template<class ContainerAllocator> struct IsMessage< ::triangulate_point_cloud::TriangulatePCLResponse_<ContainerAllocator> const> : public TrueType {};
00219 template<class ContainerAllocator>
00220 struct MD5Sum< ::triangulate_point_cloud::TriangulatePCLResponse_<ContainerAllocator> > {
00221 static const char* value()
00222 {
00223 return "59c4b22062858a80399727c45ed4b30b";
00224 }
00225
00226 static const char* value(const ::triangulate_point_cloud::TriangulatePCLResponse_<ContainerAllocator> &) { return value(); }
00227 static const uint64_t static_value1 = 0x59c4b22062858a80ULL;
00228 static const uint64_t static_value2 = 0x399727c45ed4b30bULL;
00229 };
00230
00231 template<class ContainerAllocator>
00232 struct DataType< ::triangulate_point_cloud::TriangulatePCLResponse_<ContainerAllocator> > {
00233 static const char* value()
00234 {
00235 return "triangulate_point_cloud/TriangulatePCLResponse";
00236 }
00237
00238 static const char* value(const ::triangulate_point_cloud::TriangulatePCLResponse_<ContainerAllocator> &) { return value(); }
00239 };
00240
00241 template<class ContainerAllocator>
00242 struct Definition< ::triangulate_point_cloud::TriangulatePCLResponse_<ContainerAllocator> > {
00243 static const char* value()
00244 {
00245 return "arm_navigation_msgs/Shape mesh\n\
00246 \n\
00247 \n\
00248 ================================================================================\n\
00249 MSG: arm_navigation_msgs/Shape\n\
00250 byte SPHERE=0\n\
00251 byte BOX=1\n\
00252 byte CYLINDER=2\n\
00253 byte MESH=3\n\
00254 \n\
00255 byte type\n\
00256 \n\
00257 \n\
00258 #### define sphere, box, cylinder ####\n\
00259 # the origin of each shape is considered at the shape's center\n\
00260 \n\
00261 # for sphere\n\
00262 # radius := dimensions[0]\n\
00263 \n\
00264 # for cylinder\n\
00265 # radius := dimensions[0]\n\
00266 # length := dimensions[1]\n\
00267 # the length is along the Z axis\n\
00268 \n\
00269 # for box\n\
00270 # size_x := dimensions[0]\n\
00271 # size_y := dimensions[1]\n\
00272 # size_z := dimensions[2]\n\
00273 float64[] dimensions\n\
00274 \n\
00275 \n\
00276 #### define mesh ####\n\
00277 \n\
00278 # list of triangles; triangle k is defined by tre vertices located\n\
00279 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00280 int32[] triangles\n\
00281 geometry_msgs/Point[] vertices\n\
00282 \n\
00283 ================================================================================\n\
00284 MSG: geometry_msgs/Point\n\
00285 # This contains the position of a point in free space\n\
00286 float64 x\n\
00287 float64 y\n\
00288 float64 z\n\
00289 \n\
00290 ";
00291 }
00292
00293 static const char* value(const ::triangulate_point_cloud::TriangulatePCLResponse_<ContainerAllocator> &) { return value(); }
00294 };
00295
00296 }
00297 }
00298
00299 namespace ros
00300 {
00301 namespace serialization
00302 {
00303
00304 template<class ContainerAllocator> struct Serializer< ::triangulate_point_cloud::TriangulatePCLRequest_<ContainerAllocator> >
00305 {
00306 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00307 {
00308 stream.next(m.points);
00309 }
00310
00311 ROS_DECLARE_ALLINONE_SERIALIZER;
00312 };
00313 }
00314 }
00315
00316
00317 namespace ros
00318 {
00319 namespace serialization
00320 {
00321
00322 template<class ContainerAllocator> struct Serializer< ::triangulate_point_cloud::TriangulatePCLResponse_<ContainerAllocator> >
00323 {
00324 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00325 {
00326 stream.next(m.mesh);
00327 }
00328
00329 ROS_DECLARE_ALLINONE_SERIALIZER;
00330 };
00331 }
00332 }
00333
00334 namespace ros
00335 {
00336 namespace service_traits
00337 {
00338 template<>
00339 struct MD5Sum<triangulate_point_cloud::TriangulatePCL> {
00340 static const char* value()
00341 {
00342 return "16df6b20004d1e78fbef415618cd54be";
00343 }
00344
00345 static const char* value(const triangulate_point_cloud::TriangulatePCL&) { return value(); }
00346 };
00347
00348 template<>
00349 struct DataType<triangulate_point_cloud::TriangulatePCL> {
00350 static const char* value()
00351 {
00352 return "triangulate_point_cloud/TriangulatePCL";
00353 }
00354
00355 static const char* value(const triangulate_point_cloud::TriangulatePCL&) { return value(); }
00356 };
00357
00358 template<class ContainerAllocator>
00359 struct MD5Sum<triangulate_point_cloud::TriangulatePCLRequest_<ContainerAllocator> > {
00360 static const char* value()
00361 {
00362 return "16df6b20004d1e78fbef415618cd54be";
00363 }
00364
00365 static const char* value(const triangulate_point_cloud::TriangulatePCLRequest_<ContainerAllocator> &) { return value(); }
00366 };
00367
00368 template<class ContainerAllocator>
00369 struct DataType<triangulate_point_cloud::TriangulatePCLRequest_<ContainerAllocator> > {
00370 static const char* value()
00371 {
00372 return "triangulate_point_cloud/TriangulatePCL";
00373 }
00374
00375 static const char* value(const triangulate_point_cloud::TriangulatePCLRequest_<ContainerAllocator> &) { return value(); }
00376 };
00377
00378 template<class ContainerAllocator>
00379 struct MD5Sum<triangulate_point_cloud::TriangulatePCLResponse_<ContainerAllocator> > {
00380 static const char* value()
00381 {
00382 return "16df6b20004d1e78fbef415618cd54be";
00383 }
00384
00385 static const char* value(const triangulate_point_cloud::TriangulatePCLResponse_<ContainerAllocator> &) { return value(); }
00386 };
00387
00388 template<class ContainerAllocator>
00389 struct DataType<triangulate_point_cloud::TriangulatePCLResponse_<ContainerAllocator> > {
00390 static const char* value()
00391 {
00392 return "triangulate_point_cloud/TriangulatePCL";
00393 }
00394
00395 static const char* value(const triangulate_point_cloud::TriangulatePCLResponse_<ContainerAllocator> &) { return value(); }
00396 };
00397
00398 }
00399 }
00400
00401 #endif // TRIANGULATE_POINT_CLOUD_SERVICE_TRIANGULATEPCL_H
00402