MarkerSetPose.h

00001 #ifndef _ROS_SERVICE_MarkerSetPose_h
00002 #define _ROS_SERVICE_MarkerSetPose_h
00003 #include <stdint.h>
00004 #include <string.h>
00005 #include <stdlib.h>
00006 #include "ros/msg.h"
00007 #include "geometry_msgs/PoseStamped.h"
00008 #include "visualization_msgs/Marker.h"
00009 
00010 namespace jsk_interactive_marker
00011 {
00012 
00013 static const char MARKERSETPOSE[] = "jsk_interactive_marker/MarkerSetPose";
00014 
00015   class MarkerSetPoseRequest : public ros::Msg
00016   {
00017     public:
00018       typedef const char* _marker_name_type;
00019       _marker_name_type marker_name;
00020       typedef geometry_msgs::PoseStamped _pose_type;
00021       _pose_type pose;
00022       uint32_t markers_length;
00023       typedef visualization_msgs::Marker _markers_type;
00024       _markers_type st_markers;
00025       _markers_type * markers;
00026 
00027     MarkerSetPoseRequest():
00028       marker_name(""),
00029       pose(),
00030       markers_length(0), markers(NULL)
00031     {
00032     }
00033 
00034     virtual int serialize(unsigned char *outbuffer) const
00035     {
00036       int offset = 0;
00037       uint32_t length_marker_name = strlen(this->marker_name);
00038       varToArr(outbuffer + offset, length_marker_name);
00039       offset += 4;
00040       memcpy(outbuffer + offset, this->marker_name, length_marker_name);
00041       offset += length_marker_name;
00042       offset += this->pose.serialize(outbuffer + offset);
00043       *(outbuffer + offset + 0) = (this->markers_length >> (8 * 0)) & 0xFF;
00044       *(outbuffer + offset + 1) = (this->markers_length >> (8 * 1)) & 0xFF;
00045       *(outbuffer + offset + 2) = (this->markers_length >> (8 * 2)) & 0xFF;
00046       *(outbuffer + offset + 3) = (this->markers_length >> (8 * 3)) & 0xFF;
00047       offset += sizeof(this->markers_length);
00048       for( uint32_t i = 0; i < markers_length; i++){
00049       offset += this->markers[i].serialize(outbuffer + offset);
00050       }
00051       return offset;
00052     }
00053 
00054     virtual int deserialize(unsigned char *inbuffer)
00055     {
00056       int offset = 0;
00057       uint32_t length_marker_name;
00058       arrToVar(length_marker_name, (inbuffer + offset));
00059       offset += 4;
00060       for(unsigned int k= offset; k< offset+length_marker_name; ++k){
00061           inbuffer[k-1]=inbuffer[k];
00062       }
00063       inbuffer[offset+length_marker_name-1]=0;
00064       this->marker_name = (char *)(inbuffer + offset-1);
00065       offset += length_marker_name;
00066       offset += this->pose.deserialize(inbuffer + offset);
00067       uint32_t markers_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00068       markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00069       markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00070       markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00071       offset += sizeof(this->markers_length);
00072       if(markers_lengthT > markers_length)
00073         this->markers = (visualization_msgs::Marker*)realloc(this->markers, markers_lengthT * sizeof(visualization_msgs::Marker));
00074       markers_length = markers_lengthT;
00075       for( uint32_t i = 0; i < markers_length; i++){
00076       offset += this->st_markers.deserialize(inbuffer + offset);
00077         memcpy( &(this->markers[i]), &(this->st_markers), sizeof(visualization_msgs::Marker));
00078       }
00079      return offset;
00080     }
00081 
00082     virtual const char * getType(){ return MARKERSETPOSE; };
00083     virtual const char * getMD5(){ return "ad9cd9afd2203415fba0c5648ca2decb"; };
00084 
00085   };
00086 
00087   class MarkerSetPoseResponse : public ros::Msg
00088   {
00089     public:
00090       typedef geometry_msgs::PoseStamped _pose_type;
00091       _pose_type pose;
00092 
00093     MarkerSetPoseResponse():
00094       pose()
00095     {
00096     }
00097 
00098     virtual int serialize(unsigned char *outbuffer) const
00099     {
00100       int offset = 0;
00101       offset += this->pose.serialize(outbuffer + offset);
00102       return offset;
00103     }
00104 
00105     virtual int deserialize(unsigned char *inbuffer)
00106     {
00107       int offset = 0;
00108       offset += this->pose.deserialize(inbuffer + offset);
00109      return offset;
00110     }
00111 
00112     virtual const char * getType(){ return MARKERSETPOSE; };
00113     virtual const char * getMD5(){ return "3f8930d968a3e84d471dff917bb1cdae"; };
00114 
00115   };
00116 
00117   class MarkerSetPose {
00118     public:
00119     typedef MarkerSetPoseRequest Request;
00120     typedef MarkerSetPoseResponse Response;
00121   };
00122 
00123 }
00124 #endif