AttachedCollisionObject.h

00001 #ifndef _ROS_moveit_msgs_AttachedCollisionObject_h
00002 #define _ROS_moveit_msgs_AttachedCollisionObject_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "moveit_msgs/CollisionObject.h"
00009 #include "trajectory_msgs/JointTrajectory.h"
00010 
00011 namespace moveit_msgs
00012 {
00013 
00014   class AttachedCollisionObject : public ros::Msg
00015   {
00016     public:
00017       typedef const char* _link_name_type;
00018       _link_name_type link_name;
00019       typedef moveit_msgs::CollisionObject _object_type;
00020       _object_type object;
00021       uint32_t touch_links_length;
00022       typedef char* _touch_links_type;
00023       _touch_links_type st_touch_links;
00024       _touch_links_type * touch_links;
00025       typedef trajectory_msgs::JointTrajectory _detach_posture_type;
00026       _detach_posture_type detach_posture;
00027       typedef double _weight_type;
00028       _weight_type weight;
00029 
00030     AttachedCollisionObject():
00031       link_name(""),
00032       object(),
00033       touch_links_length(0), touch_links(NULL),
00034       detach_posture(),
00035       weight(0)
00036     {
00037     }
00038 
00039     virtual int serialize(unsigned char *outbuffer) const
00040     {
00041       int offset = 0;
00042       uint32_t length_link_name = strlen(this->link_name);
00043       varToArr(outbuffer + offset, length_link_name);
00044       offset += 4;
00045       memcpy(outbuffer + offset, this->link_name, length_link_name);
00046       offset += length_link_name;
00047       offset += this->object.serialize(outbuffer + offset);
00048       *(outbuffer + offset + 0) = (this->touch_links_length >> (8 * 0)) & 0xFF;
00049       *(outbuffer + offset + 1) = (this->touch_links_length >> (8 * 1)) & 0xFF;
00050       *(outbuffer + offset + 2) = (this->touch_links_length >> (8 * 2)) & 0xFF;
00051       *(outbuffer + offset + 3) = (this->touch_links_length >> (8 * 3)) & 0xFF;
00052       offset += sizeof(this->touch_links_length);
00053       for( uint32_t i = 0; i < touch_links_length; i++){
00054       uint32_t length_touch_linksi = strlen(this->touch_links[i]);
00055       varToArr(outbuffer + offset, length_touch_linksi);
00056       offset += 4;
00057       memcpy(outbuffer + offset, this->touch_links[i], length_touch_linksi);
00058       offset += length_touch_linksi;
00059       }
00060       offset += this->detach_posture.serialize(outbuffer + offset);
00061       union {
00062         double real;
00063         uint64_t base;
00064       } u_weight;
00065       u_weight.real = this->weight;
00066       *(outbuffer + offset + 0) = (u_weight.base >> (8 * 0)) & 0xFF;
00067       *(outbuffer + offset + 1) = (u_weight.base >> (8 * 1)) & 0xFF;
00068       *(outbuffer + offset + 2) = (u_weight.base >> (8 * 2)) & 0xFF;
00069       *(outbuffer + offset + 3) = (u_weight.base >> (8 * 3)) & 0xFF;
00070       *(outbuffer + offset + 4) = (u_weight.base >> (8 * 4)) & 0xFF;
00071       *(outbuffer + offset + 5) = (u_weight.base >> (8 * 5)) & 0xFF;
00072       *(outbuffer + offset + 6) = (u_weight.base >> (8 * 6)) & 0xFF;
00073       *(outbuffer + offset + 7) = (u_weight.base >> (8 * 7)) & 0xFF;
00074       offset += sizeof(this->weight);
00075       return offset;
00076     }
00077 
00078     virtual int deserialize(unsigned char *inbuffer)
00079     {
00080       int offset = 0;
00081       uint32_t length_link_name;
00082       arrToVar(length_link_name, (inbuffer + offset));
00083       offset += 4;
00084       for(unsigned int k= offset; k< offset+length_link_name; ++k){
00085           inbuffer[k-1]=inbuffer[k];
00086       }
00087       inbuffer[offset+length_link_name-1]=0;
00088       this->link_name = (char *)(inbuffer + offset-1);
00089       offset += length_link_name;
00090       offset += this->object.deserialize(inbuffer + offset);
00091       uint32_t touch_links_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00092       touch_links_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00093       touch_links_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00094       touch_links_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00095       offset += sizeof(this->touch_links_length);
00096       if(touch_links_lengthT > touch_links_length)
00097         this->touch_links = (char**)realloc(this->touch_links, touch_links_lengthT * sizeof(char*));
00098       touch_links_length = touch_links_lengthT;
00099       for( uint32_t i = 0; i < touch_links_length; i++){
00100       uint32_t length_st_touch_links;
00101       arrToVar(length_st_touch_links, (inbuffer + offset));
00102       offset += 4;
00103       for(unsigned int k= offset; k< offset+length_st_touch_links; ++k){
00104           inbuffer[k-1]=inbuffer[k];
00105       }
00106       inbuffer[offset+length_st_touch_links-1]=0;
00107       this->st_touch_links = (char *)(inbuffer + offset-1);
00108       offset += length_st_touch_links;
00109         memcpy( &(this->touch_links[i]), &(this->st_touch_links), sizeof(char*));
00110       }
00111       offset += this->detach_posture.deserialize(inbuffer + offset);
00112       union {
00113         double real;
00114         uint64_t base;
00115       } u_weight;
00116       u_weight.base = 0;
00117       u_weight.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00118       u_weight.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00119       u_weight.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00120       u_weight.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00121       u_weight.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00122       u_weight.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00123       u_weight.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00124       u_weight.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00125       this->weight = u_weight.real;
00126       offset += sizeof(this->weight);
00127      return offset;
00128     }
00129 
00130     virtual const char * getType(){ return "moveit_msgs/AttachedCollisionObject"; };
00131     virtual const char * getMD5(){ return "3ceac60b21e85bbd6c5b0ab9d476b752"; };
00132 
00133   };
00134 
00135 }
00136 #endif