KinematicSolverInfo.h

00001 #ifndef _ROS_moveit_msgs_KinematicSolverInfo_h
00002 #define _ROS_moveit_msgs_KinematicSolverInfo_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "moveit_msgs/JointLimits.h"
00009 
00010 namespace moveit_msgs
00011 {
00012 
00013   class KinematicSolverInfo : public ros::Msg
00014   {
00015     public:
00016       uint32_t joint_names_length;
00017       typedef char* _joint_names_type;
00018       _joint_names_type st_joint_names;
00019       _joint_names_type * joint_names;
00020       uint32_t limits_length;
00021       typedef moveit_msgs::JointLimits _limits_type;
00022       _limits_type st_limits;
00023       _limits_type * limits;
00024       uint32_t link_names_length;
00025       typedef char* _link_names_type;
00026       _link_names_type st_link_names;
00027       _link_names_type * link_names;
00028 
00029     KinematicSolverInfo():
00030       joint_names_length(0), joint_names(NULL),
00031       limits_length(0), limits(NULL),
00032       link_names_length(0), link_names(NULL)
00033     {
00034     }
00035 
00036     virtual int serialize(unsigned char *outbuffer) const
00037     {
00038       int offset = 0;
00039       *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF;
00040       *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF;
00041       *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF;
00042       *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF;
00043       offset += sizeof(this->joint_names_length);
00044       for( uint32_t i = 0; i < joint_names_length; i++){
00045       uint32_t length_joint_namesi = strlen(this->joint_names[i]);
00046       varToArr(outbuffer + offset, length_joint_namesi);
00047       offset += 4;
00048       memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
00049       offset += length_joint_namesi;
00050       }
00051       *(outbuffer + offset + 0) = (this->limits_length >> (8 * 0)) & 0xFF;
00052       *(outbuffer + offset + 1) = (this->limits_length >> (8 * 1)) & 0xFF;
00053       *(outbuffer + offset + 2) = (this->limits_length >> (8 * 2)) & 0xFF;
00054       *(outbuffer + offset + 3) = (this->limits_length >> (8 * 3)) & 0xFF;
00055       offset += sizeof(this->limits_length);
00056       for( uint32_t i = 0; i < limits_length; i++){
00057       offset += this->limits[i].serialize(outbuffer + offset);
00058       }
00059       *(outbuffer + offset + 0) = (this->link_names_length >> (8 * 0)) & 0xFF;
00060       *(outbuffer + offset + 1) = (this->link_names_length >> (8 * 1)) & 0xFF;
00061       *(outbuffer + offset + 2) = (this->link_names_length >> (8 * 2)) & 0xFF;
00062       *(outbuffer + offset + 3) = (this->link_names_length >> (8 * 3)) & 0xFF;
00063       offset += sizeof(this->link_names_length);
00064       for( uint32_t i = 0; i < link_names_length; i++){
00065       uint32_t length_link_namesi = strlen(this->link_names[i]);
00066       varToArr(outbuffer + offset, length_link_namesi);
00067       offset += 4;
00068       memcpy(outbuffer + offset, this->link_names[i], length_link_namesi);
00069       offset += length_link_namesi;
00070       }
00071       return offset;
00072     }
00073 
00074     virtual int deserialize(unsigned char *inbuffer)
00075     {
00076       int offset = 0;
00077       uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00078       joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00079       joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00080       joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00081       offset += sizeof(this->joint_names_length);
00082       if(joint_names_lengthT > joint_names_length)
00083         this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
00084       joint_names_length = joint_names_lengthT;
00085       for( uint32_t i = 0; i < joint_names_length; i++){
00086       uint32_t length_st_joint_names;
00087       arrToVar(length_st_joint_names, (inbuffer + offset));
00088       offset += 4;
00089       for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
00090           inbuffer[k-1]=inbuffer[k];
00091       }
00092       inbuffer[offset+length_st_joint_names-1]=0;
00093       this->st_joint_names = (char *)(inbuffer + offset-1);
00094       offset += length_st_joint_names;
00095         memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
00096       }
00097       uint32_t limits_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00098       limits_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00099       limits_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00100       limits_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00101       offset += sizeof(this->limits_length);
00102       if(limits_lengthT > limits_length)
00103         this->limits = (moveit_msgs::JointLimits*)realloc(this->limits, limits_lengthT * sizeof(moveit_msgs::JointLimits));
00104       limits_length = limits_lengthT;
00105       for( uint32_t i = 0; i < limits_length; i++){
00106       offset += this->st_limits.deserialize(inbuffer + offset);
00107         memcpy( &(this->limits[i]), &(this->st_limits), sizeof(moveit_msgs::JointLimits));
00108       }
00109       uint32_t link_names_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00110       link_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00111       link_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00112       link_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00113       offset += sizeof(this->link_names_length);
00114       if(link_names_lengthT > link_names_length)
00115         this->link_names = (char**)realloc(this->link_names, link_names_lengthT * sizeof(char*));
00116       link_names_length = link_names_lengthT;
00117       for( uint32_t i = 0; i < link_names_length; i++){
00118       uint32_t length_st_link_names;
00119       arrToVar(length_st_link_names, (inbuffer + offset));
00120       offset += 4;
00121       for(unsigned int k= offset; k< offset+length_st_link_names; ++k){
00122           inbuffer[k-1]=inbuffer[k];
00123       }
00124       inbuffer[offset+length_st_link_names-1]=0;
00125       this->st_link_names = (char *)(inbuffer + offset-1);
00126       offset += length_st_link_names;
00127         memcpy( &(this->link_names[i]), &(this->st_link_names), sizeof(char*));
00128       }
00129      return offset;
00130     }
00131 
00132     virtual const char * getType(){ return "moveit_msgs/KinematicSolverInfo"; };
00133     virtual const char * getMD5(){ return "cc048557c0f9795c392dd80f8bb00489"; };
00134 
00135   };
00136 
00137 }
00138 #endif