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capstone_finish

Dependencies:   BufferedSerial motor_sn7544

ros/message_traits.h@10:ca4e4062701a, 2019-11-26 (annotated)

Committer:
Jeonghoon
Date:
Tue Nov 26 15:30:27 2019 +0000
Revision:
10:ca4e4062701a
Parent:
3:2a3664dc6634 
capstone finish

Who changed what in which revision?

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Jeonghoon 3:2a3664dc6634 1 /*
Jeonghoon 3:2a3664dc6634 2 * Copyright (C) 2009, Willow Garage, Inc.
Jeonghoon 3:2a3664dc6634 3 *
Jeonghoon 3:2a3664dc6634 4 * Redistribution and use in source and binary forms, with or without
Jeonghoon 3:2a3664dc6634 5 * modification, are permitted provided that the following conditions are met:
Jeonghoon 3:2a3664dc6634 6 * * Redistributions of source code must retain the above copyright notice,
Jeonghoon 3:2a3664dc6634 7 * this list of conditions and the following disclaimer.
Jeonghoon 3:2a3664dc6634 8 * * Redistributions in binary form must reproduce the above copyright
Jeonghoon 3:2a3664dc6634 9 * notice, this list of conditions and the following disclaimer in the
Jeonghoon 3:2a3664dc6634 10 * documentation and/or other materials provided with the distribution.
Jeonghoon 3:2a3664dc6634 11 * * Neither the names of Willow Garage, Inc. nor the names of its
Jeonghoon 3:2a3664dc6634 12 * contributors may be used to endorse or promote products derived from
Jeonghoon 3:2a3664dc6634 13 * this software without specific prior written permission.
Jeonghoon 3:2a3664dc6634 14 *
Jeonghoon 3:2a3664dc6634 15 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Jeonghoon 3:2a3664dc6634 16 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Jeonghoon 3:2a3664dc6634 17 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
Jeonghoon 3:2a3664dc6634 18 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
Jeonghoon 3:2a3664dc6634 19 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
Jeonghoon 3:2a3664dc6634 20 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
Jeonghoon 3:2a3664dc6634 21 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
Jeonghoon 3:2a3664dc6634 22 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
Jeonghoon 3:2a3664dc6634 23 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
Jeonghoon 3:2a3664dc6634 24 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
Jeonghoon 3:2a3664dc6634 25 * POSSIBILITY OF SUCH DAMAGE.
Jeonghoon 3:2a3664dc6634 26 */
Jeonghoon 3:2a3664dc6634 27
Jeonghoon 3:2a3664dc6634 28 #ifndef ROSLIB_MESSAGE_TRAITS_H
Jeonghoon 3:2a3664dc6634 29 #define ROSLIB_MESSAGE_TRAITS_H
Jeonghoon 3:2a3664dc6634 30
Jeonghoon 3:2a3664dc6634 31 #include "message_forward.h"
Jeonghoon 3:2a3664dc6634 32
Jeonghoon 3:2a3664dc6634 33 #include <ros/time.h>
Jeonghoon 3:2a3664dc6634 34
Jeonghoon 3:2a3664dc6634 35 #include <string>
Jeonghoon 3:2a3664dc6634 36 #include <boost/utility/enable_if.hpp>
Jeonghoon 3:2a3664dc6634 37 #include <boost/type_traits/remove_const.hpp>
Jeonghoon 3:2a3664dc6634 38 #include <boost/type_traits/remove_reference.hpp>
Jeonghoon 3:2a3664dc6634 39
Jeonghoon 3:2a3664dc6634 40 namespace std_msgs
Jeonghoon 3:2a3664dc6634 41 {
Jeonghoon 3:2a3664dc6634 42 ROS_DECLARE_MESSAGE(Header)
Jeonghoon 3:2a3664dc6634 43 }
Jeonghoon 3:2a3664dc6634 44
Jeonghoon 3:2a3664dc6634 45 #define ROS_IMPLEMENT_SIMPLE_TOPIC_TRAITS(msg, md5sum, datatype, definition) \
Jeonghoon 3:2a3664dc6634 46 namespace ros \
Jeonghoon 3:2a3664dc6634 47 { \
Jeonghoon 3:2a3664dc6634 48 namespace message_traits \
Jeonghoon 3:2a3664dc6634 49 { \
Jeonghoon 3:2a3664dc6634 50 template<> struct MD5Sum<msg> \
Jeonghoon 3:2a3664dc6634 51 { \
Jeonghoon 3:2a3664dc6634 52 static const char* value() { return md5sum; } \
Jeonghoon 3:2a3664dc6634 53 static const char* value(const msg&) { return value(); } \
Jeonghoon 3:2a3664dc6634 54 }; \
Jeonghoon 3:2a3664dc6634 55 template<> struct DataType<msg> \
Jeonghoon 3:2a3664dc6634 56 { \
Jeonghoon 3:2a3664dc6634 57 static const char* value() { return datatype; } \
Jeonghoon 3:2a3664dc6634 58 static const char* value(const msg&) { return value(); } \
Jeonghoon 3:2a3664dc6634 59 }; \
Jeonghoon 3:2a3664dc6634 60 template<> struct Definition<msg> \
Jeonghoon 3:2a3664dc6634 61 { \
Jeonghoon 3:2a3664dc6634 62 static const char* value() { return definition; } \
Jeonghoon 3:2a3664dc6634 63 static const char* value(const msg&) { return value(); } \
Jeonghoon 3:2a3664dc6634 64 }; \
Jeonghoon 3:2a3664dc6634 65 } \
Jeonghoon 3:2a3664dc6634 66 }
Jeonghoon 3:2a3664dc6634 67
Jeonghoon 3:2a3664dc6634 68
Jeonghoon 3:2a3664dc6634 69 namespace ros
Jeonghoon 3:2a3664dc6634 70 {
Jeonghoon 3:2a3664dc6634 71 namespace message_traits
Jeonghoon 3:2a3664dc6634 72 {
Jeonghoon 3:2a3664dc6634 73
Jeonghoon 3:2a3664dc6634 74 /**
Jeonghoon 3:2a3664dc6634 75 * \brief Base type for compile-type true/false tests. Compatible with Boost.MPL. classes inheriting from this type
Jeonghoon 3:2a3664dc6634 76 * are \b true values.
Jeonghoon 3:2a3664dc6634 77 */
Jeonghoon 3:2a3664dc6634 78 struct TrueType
Jeonghoon 3:2a3664dc6634 79 {
Jeonghoon 3:2a3664dc6634 80 static const bool value = true;
Jeonghoon 3:2a3664dc6634 81 typedef TrueType type;
Jeonghoon 3:2a3664dc6634 82 };
Jeonghoon 3:2a3664dc6634 83
Jeonghoon 3:2a3664dc6634 84 /**
Jeonghoon 3:2a3664dc6634 85 * \brief Base type for compile-type true/false tests. Compatible with Boost.MPL. classes inheriting from this type
Jeonghoon 3:2a3664dc6634 86 * are \b false values.
Jeonghoon 3:2a3664dc6634 87 */
Jeonghoon 3:2a3664dc6634 88 struct FalseType
Jeonghoon 3:2a3664dc6634 89 {
Jeonghoon 3:2a3664dc6634 90 static const bool value = false;
Jeonghoon 3:2a3664dc6634 91 typedef FalseType type;
Jeonghoon 3:2a3664dc6634 92 };
Jeonghoon 3:2a3664dc6634 93
Jeonghoon 3:2a3664dc6634 94 /**
Jeonghoon 3:2a3664dc6634 95 * \brief A simple datatype is one that can be memcpy'd directly in array form, i.e. it's a POD, fixed-size type and
Jeonghoon 3:2a3664dc6634 96 * sizeof(M) == sum(serializationLength(M:a...))
Jeonghoon 3:2a3664dc6634 97 */
Jeonghoon 3:2a3664dc6634 98 template<typename M> struct IsSimple : public FalseType {};
Jeonghoon 3:2a3664dc6634 99 /**
Jeonghoon 3:2a3664dc6634 100 * \brief A fixed-size datatype is one whose size is constant, i.e. it has no variable-length arrays or strings
Jeonghoon 3:2a3664dc6634 101 */
Jeonghoon 3:2a3664dc6634 102 template<typename M> struct IsFixedSize : public FalseType {};
Jeonghoon 3:2a3664dc6634 103 /**
Jeonghoon 3:2a3664dc6634 104 * \brief HasHeader informs whether or not there is a header that gets serialized as the first thing in the message
Jeonghoon 3:2a3664dc6634 105 */
Jeonghoon 3:2a3664dc6634 106 template<typename M> struct HasHeader : public FalseType {};
Jeonghoon 3:2a3664dc6634 107
Jeonghoon 3:2a3664dc6634 108 /**
Jeonghoon 3:2a3664dc6634 109 * \brief Am I message or not
Jeonghoon 3:2a3664dc6634 110 */
Jeonghoon 3:2a3664dc6634 111 template<typename M> struct IsMessage : public FalseType {};
Jeonghoon 3:2a3664dc6634 112
Jeonghoon 3:2a3664dc6634 113 /**
Jeonghoon 3:2a3664dc6634 114 * \brief Specialize to provide the md5sum for a message
Jeonghoon 3:2a3664dc6634 115 */
Jeonghoon 3:2a3664dc6634 116 template<typename M>
Jeonghoon 3:2a3664dc6634 117 struct MD5Sum
Jeonghoon 3:2a3664dc6634 118 {
Jeonghoon 3:2a3664dc6634 119 static const char* value()
Jeonghoon 3:2a3664dc6634 120 {
Jeonghoon 3:2a3664dc6634 121 return M::__s_getMD5Sum().c_str();
Jeonghoon 3:2a3664dc6634 122 }
Jeonghoon 3:2a3664dc6634 123
Jeonghoon 3:2a3664dc6634 124 static const char* value(const M& m)
Jeonghoon 3:2a3664dc6634 125 {
Jeonghoon 3:2a3664dc6634 126 return m.__getMD5Sum().c_str();
Jeonghoon 3:2a3664dc6634 127 }
Jeonghoon 3:2a3664dc6634 128 };
Jeonghoon 3:2a3664dc6634 129
Jeonghoon 3:2a3664dc6634 130 /**
Jeonghoon 3:2a3664dc6634 131 * \brief Specialize to provide the datatype for a message
Jeonghoon 3:2a3664dc6634 132 */
Jeonghoon 3:2a3664dc6634 133 template<typename M>
Jeonghoon 3:2a3664dc6634 134 struct DataType
Jeonghoon 3:2a3664dc6634 135 {
Jeonghoon 3:2a3664dc6634 136 static const char* value()
Jeonghoon 3:2a3664dc6634 137 {
Jeonghoon 3:2a3664dc6634 138 return M::__s_getDataType().c_str();
Jeonghoon 3:2a3664dc6634 139 }
Jeonghoon 3:2a3664dc6634 140
Jeonghoon 3:2a3664dc6634 141 static const char* value(const M& m)
Jeonghoon 3:2a3664dc6634 142 {
Jeonghoon 3:2a3664dc6634 143 return m.__getDataType().c_str();
Jeonghoon 3:2a3664dc6634 144 }
Jeonghoon 3:2a3664dc6634 145 };
Jeonghoon 3:2a3664dc6634 146
Jeonghoon 3:2a3664dc6634 147 /**
Jeonghoon 3:2a3664dc6634 148 * \brief Specialize to provide the definition for a message
Jeonghoon 3:2a3664dc6634 149 */
Jeonghoon 3:2a3664dc6634 150 template<typename M>
Jeonghoon 3:2a3664dc6634 151 struct Definition
Jeonghoon 3:2a3664dc6634 152 {
Jeonghoon 3:2a3664dc6634 153 static const char* value()
Jeonghoon 3:2a3664dc6634 154 {
Jeonghoon 3:2a3664dc6634 155 return M::__s_getMessageDefinition().c_str();
Jeonghoon 3:2a3664dc6634 156 }
Jeonghoon 3:2a3664dc6634 157
Jeonghoon 3:2a3664dc6634 158 static const char* value(const M& m)
Jeonghoon 3:2a3664dc6634 159 {
Jeonghoon 3:2a3664dc6634 160 return m.__getMessageDefinition().c_str();
Jeonghoon 3:2a3664dc6634 161 }
Jeonghoon 3:2a3664dc6634 162 };
Jeonghoon 3:2a3664dc6634 163
Jeonghoon 3:2a3664dc6634 164 /**
Jeonghoon 3:2a3664dc6634 165 * \brief Header trait. In the default implementation pointer()
Jeonghoon 3:2a3664dc6634 166 * returns &m.header if HasHeader<M>::value is true, otherwise returns NULL
Jeonghoon 3:2a3664dc6634 167 */
Jeonghoon 3:2a3664dc6634 168 template<typename M, typename Enable = void>
Jeonghoon 3:2a3664dc6634 169 struct Header
Jeonghoon 3:2a3664dc6634 170 {
Jeonghoon 3:2a3664dc6634 171 static std_msgs::Header* pointer(M& m) { (void)m; return 0; }
Jeonghoon 3:2a3664dc6634 172 static std_msgs::Header const* pointer(const M& m) { (void)m; return 0; }
Jeonghoon 3:2a3664dc6634 173 };
Jeonghoon 3:2a3664dc6634 174
Jeonghoon 3:2a3664dc6634 175 template<typename M>
Jeonghoon 3:2a3664dc6634 176 struct Header<M, typename boost::enable_if<HasHeader<M> >::type >
Jeonghoon 3:2a3664dc6634 177 {
Jeonghoon 3:2a3664dc6634 178 static std_msgs::Header* pointer(M& m) { return &m.header; }
Jeonghoon 3:2a3664dc6634 179 static std_msgs::Header const* pointer(const M& m) { return &m.header; }
Jeonghoon 3:2a3664dc6634 180 };
Jeonghoon 3:2a3664dc6634 181
Jeonghoon 3:2a3664dc6634 182 /**
Jeonghoon 3:2a3664dc6634 183 * \brief FrameId trait. In the default implementation pointer()
Jeonghoon 3:2a3664dc6634 184 * returns &m.header.frame_id if HasHeader<M>::value is true, otherwise returns NULL. value()
Jeonghoon 3:2a3664dc6634 185 * does not exist, and causes a compile error
Jeonghoon 3:2a3664dc6634 186 */
Jeonghoon 3:2a3664dc6634 187 template<typename M, typename Enable = void>
Jeonghoon 3:2a3664dc6634 188 struct FrameId
Jeonghoon 3:2a3664dc6634 189 {
Jeonghoon 3:2a3664dc6634 190 static std::string* pointer(M& m) { (void)m; return 0; }
Jeonghoon 3:2a3664dc6634 191 static std::string const* pointer(const M& m) { (void)m; return 0; }
Jeonghoon 3:2a3664dc6634 192 };
Jeonghoon 3:2a3664dc6634 193
Jeonghoon 3:2a3664dc6634 194 template<typename M>
Jeonghoon 3:2a3664dc6634 195 struct FrameId<M, typename boost::enable_if<HasHeader<M> >::type >
Jeonghoon 3:2a3664dc6634 196 {
Jeonghoon 3:2a3664dc6634 197 static std::string* pointer(M& m) { return &m.header.frame_id; }
Jeonghoon 3:2a3664dc6634 198 static std::string const* pointer(const M& m) { return &m.header.frame_id; }
Jeonghoon 3:2a3664dc6634 199 static std::string value(const M& m) { return m.header.frame_id; }
Jeonghoon 3:2a3664dc6634 200 };
Jeonghoon 3:2a3664dc6634 201
Jeonghoon 3:2a3664dc6634 202 /**
Jeonghoon 3:2a3664dc6634 203 * \brief TimeStamp trait. In the default implementation pointer()
Jeonghoon 3:2a3664dc6634 204 * returns &m.header.stamp if HasHeader<M>::value is true, otherwise returns NULL. value()
Jeonghoon 3:2a3664dc6634 205 * does not exist, and causes a compile error
Jeonghoon 3:2a3664dc6634 206 */
Jeonghoon 3:2a3664dc6634 207 template<typename M, typename Enable = void>
Jeonghoon 3:2a3664dc6634 208 struct TimeStamp
Jeonghoon 3:2a3664dc6634 209 {
Jeonghoon 3:2a3664dc6634 210 static ros::Time* pointer(M& m) { (void)m; return 0; }
Jeonghoon 3:2a3664dc6634 211 static ros::Time const* pointer(const M& m) { (void)m; return 0; }
Jeonghoon 3:2a3664dc6634 212 };
Jeonghoon 3:2a3664dc6634 213
Jeonghoon 3:2a3664dc6634 214 template<typename M>
Jeonghoon 3:2a3664dc6634 215 struct TimeStamp<M, typename boost::enable_if<HasHeader<M> >::type >
Jeonghoon 3:2a3664dc6634 216 {
Jeonghoon 3:2a3664dc6634 217 static ros::Time* pointer(typename boost::remove_const<M>::type &m) { return &m.header.stamp; }
Jeonghoon 3:2a3664dc6634 218 static ros::Time const* pointer(const M& m) { return &m.header.stamp; }
Jeonghoon 3:2a3664dc6634 219 static ros::Time value(const M& m) { return m.header.stamp; }
Jeonghoon 3:2a3664dc6634 220 };
Jeonghoon 3:2a3664dc6634 221
Jeonghoon 3:2a3664dc6634 222 /**
Jeonghoon 3:2a3664dc6634 223 * \brief returns MD5Sum<M>::value();
Jeonghoon 3:2a3664dc6634 224 */
Jeonghoon 3:2a3664dc6634 225 template<typename M>
Jeonghoon 3:2a3664dc6634 226 inline const char* md5sum()
Jeonghoon 3:2a3664dc6634 227 {
Jeonghoon 3:2a3664dc6634 228 return MD5Sum<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::value();
Jeonghoon 3:2a3664dc6634 229 }
Jeonghoon 3:2a3664dc6634 230
Jeonghoon 3:2a3664dc6634 231 /**
Jeonghoon 3:2a3664dc6634 232 * \brief returns DataType<M>::value();
Jeonghoon 3:2a3664dc6634 233 */
Jeonghoon 3:2a3664dc6634 234 template<typename M>
Jeonghoon 3:2a3664dc6634 235 inline const char* datatype()
Jeonghoon 3:2a3664dc6634 236 {
Jeonghoon 3:2a3664dc6634 237 return DataType<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::value();
Jeonghoon 3:2a3664dc6634 238 }
Jeonghoon 3:2a3664dc6634 239
Jeonghoon 3:2a3664dc6634 240 /**
Jeonghoon 3:2a3664dc6634 241 * \brief returns Definition<M>::value();
Jeonghoon 3:2a3664dc6634 242 */
Jeonghoon 3:2a3664dc6634 243 template<typename M>
Jeonghoon 3:2a3664dc6634 244 inline const char* definition()
Jeonghoon 3:2a3664dc6634 245 {
Jeonghoon 3:2a3664dc6634 246 return Definition<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::value();
Jeonghoon 3:2a3664dc6634 247 }
Jeonghoon 3:2a3664dc6634 248
Jeonghoon 3:2a3664dc6634 249 /**
Jeonghoon 3:2a3664dc6634 250 * \brief returns MD5Sum<M>::value(m);
Jeonghoon 3:2a3664dc6634 251 */
Jeonghoon 3:2a3664dc6634 252 template<typename M>
Jeonghoon 3:2a3664dc6634 253 inline const char* md5sum(const M& m)
Jeonghoon 3:2a3664dc6634 254 {
Jeonghoon 3:2a3664dc6634 255 return MD5Sum<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::value(m);
Jeonghoon 3:2a3664dc6634 256 }
Jeonghoon 3:2a3664dc6634 257
Jeonghoon 3:2a3664dc6634 258 /**
Jeonghoon 3:2a3664dc6634 259 * \brief returns DataType<M>::value(m);
Jeonghoon 3:2a3664dc6634 260 */
Jeonghoon 3:2a3664dc6634 261 template<typename M>
Jeonghoon 3:2a3664dc6634 262 inline const char* datatype(const M& m)
Jeonghoon 3:2a3664dc6634 263 {
Jeonghoon 3:2a3664dc6634 264 return DataType<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::value(m);
Jeonghoon 3:2a3664dc6634 265 }
Jeonghoon 3:2a3664dc6634 266
Jeonghoon 3:2a3664dc6634 267 /**
Jeonghoon 3:2a3664dc6634 268 * \brief returns Definition<M>::value(m);
Jeonghoon 3:2a3664dc6634 269 */
Jeonghoon 3:2a3664dc6634 270 template<typename M>
Jeonghoon 3:2a3664dc6634 271 inline const char* definition(const M& m)
Jeonghoon 3:2a3664dc6634 272 {
Jeonghoon 3:2a3664dc6634 273 return Definition<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::value(m);
Jeonghoon 3:2a3664dc6634 274 }
Jeonghoon 3:2a3664dc6634 275
Jeonghoon 3:2a3664dc6634 276 /**
Jeonghoon 3:2a3664dc6634 277 * \brief returns Header<M>::pointer(m);
Jeonghoon 3:2a3664dc6634 278 */
Jeonghoon 3:2a3664dc6634 279 template<typename M>
Jeonghoon 3:2a3664dc6634 280 inline std_msgs::Header* header(M& m)
Jeonghoon 3:2a3664dc6634 281 {
Jeonghoon 3:2a3664dc6634 282 return Header<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::pointer(m);
Jeonghoon 3:2a3664dc6634 283 }
Jeonghoon 3:2a3664dc6634 284
Jeonghoon 3:2a3664dc6634 285 /**
Jeonghoon 3:2a3664dc6634 286 * \brief returns Header<M>::pointer(m);
Jeonghoon 3:2a3664dc6634 287 */
Jeonghoon 3:2a3664dc6634 288 template<typename M>
Jeonghoon 3:2a3664dc6634 289 inline std_msgs::Header const* header(const M& m)
Jeonghoon 3:2a3664dc6634 290 {
Jeonghoon 3:2a3664dc6634 291 return Header<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::pointer(m);
Jeonghoon 3:2a3664dc6634 292 }
Jeonghoon 3:2a3664dc6634 293
Jeonghoon 3:2a3664dc6634 294 /**
Jeonghoon 3:2a3664dc6634 295 * \brief returns FrameId<M>::pointer(m);
Jeonghoon 3:2a3664dc6634 296 */
Jeonghoon 3:2a3664dc6634 297 template<typename M>
Jeonghoon 3:2a3664dc6634 298 inline std::string* frameId(M& m)
Jeonghoon 3:2a3664dc6634 299 {
Jeonghoon 3:2a3664dc6634 300 return FrameId<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::pointer(m);
Jeonghoon 3:2a3664dc6634 301 }
Jeonghoon 3:2a3664dc6634 302
Jeonghoon 3:2a3664dc6634 303 /**
Jeonghoon 3:2a3664dc6634 304 * \brief returns FrameId<M>::pointer(m);
Jeonghoon 3:2a3664dc6634 305 */
Jeonghoon 3:2a3664dc6634 306 template<typename M>
Jeonghoon 3:2a3664dc6634 307 inline std::string const* frameId(const M& m)
Jeonghoon 3:2a3664dc6634 308 {
Jeonghoon 3:2a3664dc6634 309 return FrameId<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::pointer(m);
Jeonghoon 3:2a3664dc6634 310 }
Jeonghoon 3:2a3664dc6634 311
Jeonghoon 3:2a3664dc6634 312 /**
Jeonghoon 3:2a3664dc6634 313 * \brief returns TimeStamp<M>::pointer(m);
Jeonghoon 3:2a3664dc6634 314 */
Jeonghoon 3:2a3664dc6634 315 template<typename M>
Jeonghoon 3:2a3664dc6634 316 inline ros::Time* timeStamp(M& m)
Jeonghoon 3:2a3664dc6634 317 {
Jeonghoon 3:2a3664dc6634 318 return TimeStamp<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::pointer(m);
Jeonghoon 3:2a3664dc6634 319 }
Jeonghoon 3:2a3664dc6634 320
Jeonghoon 3:2a3664dc6634 321 /**
Jeonghoon 3:2a3664dc6634 322 * \brief returns TimeStamp<M>::pointer(m);
Jeonghoon 3:2a3664dc6634 323 */
Jeonghoon 3:2a3664dc6634 324 template<typename M>
Jeonghoon 3:2a3664dc6634 325 inline ros::Time const* timeStamp(const M& m)
Jeonghoon 3:2a3664dc6634 326 {
Jeonghoon 3:2a3664dc6634 327 return TimeStamp<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::pointer(m);
Jeonghoon 3:2a3664dc6634 328 }
Jeonghoon 3:2a3664dc6634 329
Jeonghoon 3:2a3664dc6634 330 /**
Jeonghoon 3:2a3664dc6634 331 * \brief returns IsSimple<M>::value;
Jeonghoon 3:2a3664dc6634 332 */
Jeonghoon 3:2a3664dc6634 333 template<typename M>
Jeonghoon 3:2a3664dc6634 334 inline bool isSimple()
Jeonghoon 3:2a3664dc6634 335 {
Jeonghoon 3:2a3664dc6634 336 return IsSimple<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::value;
Jeonghoon 3:2a3664dc6634 337 }
Jeonghoon 3:2a3664dc6634 338
Jeonghoon 3:2a3664dc6634 339 /**
Jeonghoon 3:2a3664dc6634 340 * \brief returns IsFixedSize<M>::value;
Jeonghoon 3:2a3664dc6634 341 */
Jeonghoon 3:2a3664dc6634 342 template<typename M>
Jeonghoon 3:2a3664dc6634 343 inline bool isFixedSize()
Jeonghoon 3:2a3664dc6634 344 {
Jeonghoon 3:2a3664dc6634 345 return IsFixedSize<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::value;
Jeonghoon 3:2a3664dc6634 346 }
Jeonghoon 3:2a3664dc6634 347
Jeonghoon 3:2a3664dc6634 348 /**
Jeonghoon 3:2a3664dc6634 349 * \brief returns HasHeader<M>::value;
Jeonghoon 3:2a3664dc6634 350 */
Jeonghoon 3:2a3664dc6634 351 template<typename M>
Jeonghoon 3:2a3664dc6634 352 inline bool hasHeader()
Jeonghoon 3:2a3664dc6634 353 {
Jeonghoon 3:2a3664dc6634 354 return HasHeader<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::value;
Jeonghoon 3:2a3664dc6634 355 }
Jeonghoon 3:2a3664dc6634 356
Jeonghoon 3:2a3664dc6634 357 } // namespace message_traits
Jeonghoon 3:2a3664dc6634 358 } // namespace ros
Jeonghoon 3:2a3664dc6634 359
Jeonghoon 3:2a3664dc6634 360 #endif // ROSLIB_MESSAGE_TRAITS_H