#ifndef SENSOR_MSGS_MESSAGE_LASERSCAN_H #define SENSOR_MSGS_MESSAGE_LASERSCAN_H #include #include #include #include #include #include #include #include namespace sensor_msgs { template struct LaserScan_ { typedef LaserScan_ Type; LaserScan_() : header()//是一个结构体，包含seq、stamp、frame_id。seq扫描顺序增加的id序列， stamp激光数据的时间戳，frame_id 是扫描数据的名字。 , angle_min(0.0)//激光开始扫描的角度 , angle_max(0.0)//激光结束扫描的角度 , angle_increment(0.0)//激光每次扫描增加的角度 , time_increment(0.0)// 激光测量的时间间隔 , scan_time(0.0)//激光扫描的时间间隔 , range_min(0.0)//激光测距的最小值 , range_max(0.0)//激光测距的最大值 , ranges()//距离数据，是一个数组，激光转一周的测量数据 , intensities() {//强度数据，是一个数组，与设备有关 } LaserScan_(const ContainerAllocator& _alloc) : header(_alloc) , angle_min(0.0) , angle_max(0.0) , angle_increment(0.0) , time_increment(0.0) , scan_time(0.0) , range_min(0.0) , range_max(0.0) , ranges(_alloc) , intensities(_alloc) { (void)_alloc; } typedef ::std_msgs::Header_ _header_type; _header_type header; typedef float _angle_min_type; _angle_min_type angle_min; typedef float _angle_max_type; _angle_max_type angle_max; typedef float _angle_increment_type; _angle_increment_type angle_increment; typedef float _time_increment_type; _time_increment_type time_increment; typedef float _scan_time_type; _scan_time_type scan_time; typedef float _range_min_type; _range_min_type range_min; typedef float _range_max_type; _range_max_type range_max; typedef std::vector::other > _ranges_type; _ranges_type ranges; typedef std::vector::other > _intensities_type; _intensities_type intensities; typedef boost::shared_ptr< ::sensor_msgs::LaserScan_ > Ptr; typedef boost::shared_ptr< ::sensor_msgs::LaserScan_ const> ConstPtr; }; // struct LaserScan_ typedef ::sensor_msgs::LaserScan_ > LaserScan; typedef boost::shared_ptr< ::sensor_msgs::LaserScan > LaserScanPtr; typedef boost::shared_ptr< ::sensor_msgs::LaserScan const> LaserScanConstPtr; // constants requiring out of line definition template std::ostream& operator<<(std::ostream& s, const ::sensor_msgs::LaserScan_ & v) { ros::message_operations::Printer< ::sensor_msgs::LaserScan_ >::stream(s, "", v); return s; } template bool operator==(const ::sensor_msgs::LaserScan_ & lhs, const ::sensor_msgs::LaserScan_ & rhs) { return lhs.header == rhs.header && lhs.angle_min == rhs.angle_min && lhs.angle_max == rhs.angle_max && lhs.angle_increment == rhs.angle_increment && lhs.time_increment == rhs.time_increment && lhs.scan_time == rhs.scan_time && lhs.range_min == rhs.range_min && lhs.range_max == rhs.range_max && lhs.ranges == rhs.ranges && lhs.intensities == rhs.intensities; } template bool operator!=(const ::sensor_msgs::LaserScan_ & lhs, const ::sensor_msgs::LaserScan_ & rhs) { return !(lhs == rhs); } } // namespace sensor_msgs namespace ros { namespace message_traits { template struct IsFixedSize< ::sensor_msgs::LaserScan_ > : FalseType { }; template struct IsFixedSize< ::sensor_msgs::LaserScan_ const> : FalseType { }; template struct IsMessage< ::sensor_msgs::LaserScan_ > : TrueType { }; template struct IsMessage< ::sensor_msgs::LaserScan_ const> : TrueType { }; template struct HasHeader< ::sensor_msgs::LaserScan_ > : TrueType { }; template struct HasHeader< ::sensor_msgs::LaserScan_ const> : TrueType { }; template struct MD5Sum< ::sensor_msgs::LaserScan_ > { static const char* value() { return "90c7ef2dc6895d81024acba2ac42f369"; } static const char* value(const ::sensor_msgs::LaserScan_&) { return value(); } static const uint64_t static_value1 = 0x90c7ef2dc6895d81ULL; static const uint64_t static_value2 = 0x024acba2ac42f369ULL; }; template struct DataType< ::sensor_msgs::LaserScan_ > { static const char* value() { return "sensor_msgs/LaserScan"; } static const char* value(const ::sensor_msgs::LaserScan_&) { return value(); } }; template struct Definition< ::sensor_msgs::LaserScan_ > { static const char* value() { return "# Single scan from a planar laser range-finder\n" "#\n" "# If you have another ranging device with different behavior (e.g. a sonar\n" "# array), please find or create a different message, since applications\n" "# will make fairly laser-specific assumptions about this data\n" "\n" "Header header # timestamp in the header is the acquisition time of \n" " # the first ray in the scan.\n" " #\n" " # in frame frame_id, angles are measured around \n" " # the positive Z axis (counterclockwise, if Z is up)\n" " # with zero angle being forward along the x axis\n" " \n" "float32 angle_min # start angle of the scan [rad]\n" "float32 angle_max # end angle of the scan [rad]\n" "float32 angle_increment # angular distance between measurements [rad]\n" "\n" "float32 time_increment # time between measurements [seconds] - if your scanner\n" " # is moving, this will be used in interpolating position\n" " # of 3d points\n" "float32 scan_time # time between scans [seconds]\n" "\n" "float32 range_min # minimum range value [m]\n" "float32 range_max # maximum range value [m]\n" "\n" "float32[] ranges # range data [m] (Note: values < range_min or > range_max should be discarded)\n" "float32[] intensities # intensity data [device-specific units]. If your\n" " # device does not provide intensities, please leave\n" " # the array empty.\n" "\n" "================================================================================\n" "MSG: std_msgs/Header\n" "# Standard metadata for higher-level stamped data types.\n" "# This is generally used to communicate timestamped data \n" "# in a particular coordinate frame.\n" "# \n" "# sequence ID: consecutively increasing ID \n" "uint32 seq\n" "#Two-integer timestamp that is expressed as:\n" "# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n" "# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n" "# time-handling sugar is provided by the client library\n" "time stamp\n" "#Frame this data is associated with\n" "string frame_id\n" ; } static const char* value(const ::sensor_msgs::LaserScan_&) { return value(); } }; } // namespace message_traits } // namespace ros namespace ros { namespace serialization { template struct Serializer< ::sensor_msgs::LaserScan_ > { template inline static void allInOne(Stream& stream, T m) { stream.next(m.header); stream.next(m.angle_min); stream.next(m.angle_max); stream.next(m.angle_increment); stream.next(m.time_increment); stream.next(m.scan_time); stream.next(m.range_min); stream.next(m.range_max); stream.next(m.ranges); stream.next(m.intensities); } ROS_DECLARE_ALLINONE_SERIALIZER }; // struct LaserScan_ } // namespace serialization } // namespace ros namespace ros { namespace message_operations { template struct Printer< ::sensor_msgs::LaserScan_ > { template static void stream(Stream& s, const std::string& indent, const ::sensor_msgs::LaserScan_& v) { s << indent << "header: "; s << std::endl; Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); s << indent << "angle_min: "; Printer::stream(s, indent + " ", v.angle_min); s << indent << "angle_max: "; Printer::stream(s, indent + " ", v.angle_max); s << indent << "angle_increment: "; Printer::stream(s, indent + " ", v.angle_increment); s << indent << "time_increment: "; Printer::stream(s, indent + " ", v.time_increment); s << indent << "scan_time: "; Printer::stream(s, indent + " ", v.scan_time); s << indent << "range_min: "; Printer::stream(s, indent + " ", v.range_min); s << indent << "range_max: "; Printer::stream(s, indent + " ", v.range_max); s << indent << "ranges[]" << std::endl; for (size_t i = 0; i < v.ranges.size(); ++i) { s << indent << " ranges[" << i << "]: "; Printer::stream(s, indent + " ", v.ranges[i]); } s << indent << "intensities[]" << std::endl; for (size_t i = 0; i < v.intensities.size(); ++i) { s << indent << " intensities[" << i << "]: "; Printer::stream(s, indent + " ", v.intensities[i]); } } }; } // namespace message_operations } // namespace ros #endif // SENSOR_MSGS_MESSAGE_LASERSCAN_H
