CostSource.h

00001 #ifndef _ROS_moveit_msgs_CostSource_h
00002 #define _ROS_moveit_msgs_CostSource_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "geometry_msgs/Vector3.h"
00009 
00010 namespace moveit_msgs
00011 {
00012 
00013   class CostSource : public ros::Msg
00014   {
00015     public:
00016       typedef double _cost_density_type;
00017       _cost_density_type cost_density;
00018       typedef geometry_msgs::Vector3 _aabb_min_type;
00019       _aabb_min_type aabb_min;
00020       typedef geometry_msgs::Vector3 _aabb_max_type;
00021       _aabb_max_type aabb_max;
00022 
00023     CostSource():
00024       cost_density(0),
00025       aabb_min(),
00026       aabb_max()
00027     {
00028     }
00029 
00030     virtual int serialize(unsigned char *outbuffer) const
00031     {
00032       int offset = 0;
00033       union {
00034         double real;
00035         uint64_t base;
00036       } u_cost_density;
00037       u_cost_density.real = this->cost_density;
00038       *(outbuffer + offset + 0) = (u_cost_density.base >> (8 * 0)) & 0xFF;
00039       *(outbuffer + offset + 1) = (u_cost_density.base >> (8 * 1)) & 0xFF;
00040       *(outbuffer + offset + 2) = (u_cost_density.base >> (8 * 2)) & 0xFF;
00041       *(outbuffer + offset + 3) = (u_cost_density.base >> (8 * 3)) & 0xFF;
00042       *(outbuffer + offset + 4) = (u_cost_density.base >> (8 * 4)) & 0xFF;
00043       *(outbuffer + offset + 5) = (u_cost_density.base >> (8 * 5)) & 0xFF;
00044       *(outbuffer + offset + 6) = (u_cost_density.base >> (8 * 6)) & 0xFF;
00045       *(outbuffer + offset + 7) = (u_cost_density.base >> (8 * 7)) & 0xFF;
00046       offset += sizeof(this->cost_density);
00047       offset += this->aabb_min.serialize(outbuffer + offset);
00048       offset += this->aabb_max.serialize(outbuffer + offset);
00049       return offset;
00050     }
00051 
00052     virtual int deserialize(unsigned char *inbuffer)
00053     {
00054       int offset = 0;
00055       union {
00056         double real;
00057         uint64_t base;
00058       } u_cost_density;
00059       u_cost_density.base = 0;
00060       u_cost_density.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00061       u_cost_density.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00062       u_cost_density.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00063       u_cost_density.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00064       u_cost_density.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00065       u_cost_density.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00066       u_cost_density.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00067       u_cost_density.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00068       this->cost_density = u_cost_density.real;
00069       offset += sizeof(this->cost_density);
00070       offset += this->aabb_min.deserialize(inbuffer + offset);
00071       offset += this->aabb_max.deserialize(inbuffer + offset);
00072      return offset;
00073     }
00074 
00075     virtual const char * getType(){ return "moveit_msgs/CostSource"; };
00076     virtual const char * getMD5(){ return "abb7e013237dacaaa8b97e704102f908"; };
00077 
00078   };
00079 
00080 }
00081 #endif