MarkerMenu.h

00001 #ifndef _ROS_jsk_interactive_marker_MarkerMenu_h
00002 #define _ROS_jsk_interactive_marker_MarkerMenu_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace jsk_interactive_marker
00010 {
00011 
00012   class MarkerMenu : public ros::Msg
00013   {
00014     public:
00015       typedef int8_t _menu_type;
00016       _menu_type menu;
00017       typedef int8_t _type_type;
00018       _type_type type;
00019       typedef const char* _marker_name_type;
00020       _marker_name_type marker_name;
00021       enum { MOVE = 0 };
00022       enum { FORCE_MOVE = 1 };
00023       enum { SET_ORIGIN = 2 };
00024       enum { SET_ORIGIN_RHAND = 3 };
00025       enum { SET_ORIGIN_LHAND = 4 };
00026       enum { RESET_COORDS = 5 };
00027       enum { DELETE_FORCE = 6 };
00028       enum { PUBLISH_MARKER = 7 };
00029       enum { JOINT_MOVE = 8 };
00030       enum { RESET_JOINT = 9 };
00031       enum { SET_MOVE_RARM = 10 };
00032       enum { SET_MOVE_LARM = 11 };
00033       enum { SET_MOVE_ARMS = 12 };
00034       enum { MOVE_CONSTRAINT_T = 13 };
00035       enum { MOVE_CONSTRAINT_NIL = 14 };
00036       enum { IK_ROTATION_AXIS_T = 15 };
00037       enum { IK_ROTATION_AXIS_NIL = 16 };
00038       enum { USE_TORSO_T = 17 };
00039       enum { USE_TORSO_NIL = 18 };
00040       enum { USE_FULLBODY = 19 };
00041       enum { START_GRASP = 20 };
00042       enum { HARF_GRASP = 21 };
00043       enum { STOP_GRASP = 22 };
00044       enum { HEAD_TARGET_POINT = 30 };
00045       enum { LOOK_AUTO = 31 };
00046       enum { MANIP_MODE = 40 };
00047       enum { PICK = 41 };
00048       enum { TOUCHIT_EXEC = 42 };
00049       enum { TOUCHIT_PREV = 43 };
00050       enum { TOUCHIT_CANCEL = 44 };
00051       enum { LOOK_RARM = 45 };
00052       enum { LOOK_LARM = 46 };
00053       enum { PLAN = 50 };
00054       enum { EXECUTE = 51 };
00055       enum { PLAN_EXECUTE = 52 };
00056       enum { CANCEL_PLAN = 53 };
00057       enum { GENERAL = 0 };
00058       enum { HEAD_MARKER = 1 };
00059       enum { RHAND_MARKER = 2 };
00060       enum { LHAND_MARKER = 3 };
00061       enum { RLEG_MARKER = 4 };
00062       enum { LLEG_MARKER = 5 };
00063       enum { BASE_MARKER = 6 };
00064       enum { RFINGER_MARKER = 7 };
00065       enum { LFINGER_MARKER = 8 };
00066 
00067     MarkerMenu():
00068       menu(0),
00069       type(0),
00070       marker_name("")
00071     {
00072     }
00073 
00074     virtual int serialize(unsigned char *outbuffer) const
00075     {
00076       int offset = 0;
00077       union {
00078         int8_t real;
00079         uint8_t base;
00080       } u_menu;
00081       u_menu.real = this->menu;
00082       *(outbuffer + offset + 0) = (u_menu.base >> (8 * 0)) & 0xFF;
00083       offset += sizeof(this->menu);
00084       union {
00085         int8_t real;
00086         uint8_t base;
00087       } u_type;
00088       u_type.real = this->type;
00089       *(outbuffer + offset + 0) = (u_type.base >> (8 * 0)) & 0xFF;
00090       offset += sizeof(this->type);
00091       uint32_t length_marker_name = strlen(this->marker_name);
00092       varToArr(outbuffer + offset, length_marker_name);
00093       offset += 4;
00094       memcpy(outbuffer + offset, this->marker_name, length_marker_name);
00095       offset += length_marker_name;
00096       return offset;
00097     }
00098 
00099     virtual int deserialize(unsigned char *inbuffer)
00100     {
00101       int offset = 0;
00102       union {
00103         int8_t real;
00104         uint8_t base;
00105       } u_menu;
00106       u_menu.base = 0;
00107       u_menu.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00108       this->menu = u_menu.real;
00109       offset += sizeof(this->menu);
00110       union {
00111         int8_t real;
00112         uint8_t base;
00113       } u_type;
00114       u_type.base = 0;
00115       u_type.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00116       this->type = u_type.real;
00117       offset += sizeof(this->type);
00118       uint32_t length_marker_name;
00119       arrToVar(length_marker_name, (inbuffer + offset));
00120       offset += 4;
00121       for(unsigned int k= offset; k< offset+length_marker_name; ++k){
00122           inbuffer[k-1]=inbuffer[k];
00123       }
00124       inbuffer[offset+length_marker_name-1]=0;
00125       this->marker_name = (char *)(inbuffer + offset-1);
00126       offset += length_marker_name;
00127      return offset;
00128     }
00129 
00130     virtual const char * getType(){ return "jsk_interactive_marker/MarkerMenu"; };
00131     virtual const char * getMD5(){ return "192d3b78eda584051c0d487463f7de74"; };
00132 
00133   };
00134 
00135 }
00136 #endif