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MotionPlanDetailedResponse.h
00001 #ifndef _ROS_moveit_msgs_MotionPlanDetailedResponse_h 00002 #define _ROS_moveit_msgs_MotionPlanDetailedResponse_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 #include "moveit_msgs/RobotState.h" 00009 #include "moveit_msgs/RobotTrajectory.h" 00010 #include "moveit_msgs/MoveItErrorCodes.h" 00011 00012 namespace moveit_msgs 00013 { 00014 00015 class MotionPlanDetailedResponse : public ros::Msg 00016 { 00017 public: 00018 typedef moveit_msgs::RobotState _trajectory_start_type; 00019 _trajectory_start_type trajectory_start; 00020 typedef const char* _group_name_type; 00021 _group_name_type group_name; 00022 uint32_t trajectory_length; 00023 typedef moveit_msgs::RobotTrajectory _trajectory_type; 00024 _trajectory_type st_trajectory; 00025 _trajectory_type * trajectory; 00026 uint32_t description_length; 00027 typedef char* _description_type; 00028 _description_type st_description; 00029 _description_type * description; 00030 uint32_t processing_time_length; 00031 typedef double _processing_time_type; 00032 _processing_time_type st_processing_time; 00033 _processing_time_type * processing_time; 00034 typedef moveit_msgs::MoveItErrorCodes _error_code_type; 00035 _error_code_type error_code; 00036 00037 MotionPlanDetailedResponse(): 00038 trajectory_start(), 00039 group_name(""), 00040 trajectory_length(0), trajectory(NULL), 00041 description_length(0), description(NULL), 00042 processing_time_length(0), processing_time(NULL), 00043 error_code() 00044 { 00045 } 00046 00047 virtual int serialize(unsigned char *outbuffer) const 00048 { 00049 int offset = 0; 00050 offset += this->trajectory_start.serialize(outbuffer + offset); 00051 uint32_t length_group_name = strlen(this->group_name); 00052 varToArr(outbuffer + offset, length_group_name); 00053 offset += 4; 00054 memcpy(outbuffer + offset, this->group_name, length_group_name); 00055 offset += length_group_name; 00056 *(outbuffer + offset + 0) = (this->trajectory_length >> (8 * 0)) & 0xFF; 00057 *(outbuffer + offset + 1) = (this->trajectory_length >> (8 * 1)) & 0xFF; 00058 *(outbuffer + offset + 2) = (this->trajectory_length >> (8 * 2)) & 0xFF; 00059 *(outbuffer + offset + 3) = (this->trajectory_length >> (8 * 3)) & 0xFF; 00060 offset += sizeof(this->trajectory_length); 00061 for( uint32_t i = 0; i < trajectory_length; i++){ 00062 offset += this->trajectory[i].serialize(outbuffer + offset); 00063 } 00064 *(outbuffer + offset + 0) = (this->description_length >> (8 * 0)) & 0xFF; 00065 *(outbuffer + offset + 1) = (this->description_length >> (8 * 1)) & 0xFF; 00066 *(outbuffer + offset + 2) = (this->description_length >> (8 * 2)) & 0xFF; 00067 *(outbuffer + offset + 3) = (this->description_length >> (8 * 3)) & 0xFF; 00068 offset += sizeof(this->description_length); 00069 for( uint32_t i = 0; i < description_length; i++){ 00070 uint32_t length_descriptioni = strlen(this->description[i]); 00071 varToArr(outbuffer + offset, length_descriptioni); 00072 offset += 4; 00073 memcpy(outbuffer + offset, this->description[i], length_descriptioni); 00074 offset += length_descriptioni; 00075 } 00076 *(outbuffer + offset + 0) = (this->processing_time_length >> (8 * 0)) & 0xFF; 00077 *(outbuffer + offset + 1) = (this->processing_time_length >> (8 * 1)) & 0xFF; 00078 *(outbuffer + offset + 2) = (this->processing_time_length >> (8 * 2)) & 0xFF; 00079 *(outbuffer + offset + 3) = (this->processing_time_length >> (8 * 3)) & 0xFF; 00080 offset += sizeof(this->processing_time_length); 00081 for( uint32_t i = 0; i < processing_time_length; i++){ 00082 union { 00083 double real; 00084 uint64_t base; 00085 } u_processing_timei; 00086 u_processing_timei.real = this->processing_time[i]; 00087 *(outbuffer + offset + 0) = (u_processing_timei.base >> (8 * 0)) & 0xFF; 00088 *(outbuffer + offset + 1) = (u_processing_timei.base >> (8 * 1)) & 0xFF; 00089 *(outbuffer + offset + 2) = (u_processing_timei.base >> (8 * 2)) & 0xFF; 00090 *(outbuffer + offset + 3) = (u_processing_timei.base >> (8 * 3)) & 0xFF; 00091 *(outbuffer + offset + 4) = (u_processing_timei.base >> (8 * 4)) & 0xFF; 00092 *(outbuffer + offset + 5) = (u_processing_timei.base >> (8 * 5)) & 0xFF; 00093 *(outbuffer + offset + 6) = (u_processing_timei.base >> (8 * 6)) & 0xFF; 00094 *(outbuffer + offset + 7) = (u_processing_timei.base >> (8 * 7)) & 0xFF; 00095 offset += sizeof(this->processing_time[i]); 00096 } 00097 offset += this->error_code.serialize(outbuffer + offset); 00098 return offset; 00099 } 00100 00101 virtual int deserialize(unsigned char *inbuffer) 00102 { 00103 int offset = 0; 00104 offset += this->trajectory_start.deserialize(inbuffer + offset); 00105 uint32_t length_group_name; 00106 arrToVar(length_group_name, (inbuffer + offset)); 00107 offset += 4; 00108 for(unsigned int k= offset; k< offset+length_group_name; ++k){ 00109 inbuffer[k-1]=inbuffer[k]; 00110 } 00111 inbuffer[offset+length_group_name-1]=0; 00112 this->group_name = (char *)(inbuffer + offset-1); 00113 offset += length_group_name; 00114 uint32_t trajectory_lengthT = ((uint32_t) (*(inbuffer + offset))); 00115 trajectory_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00116 trajectory_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00117 trajectory_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00118 offset += sizeof(this->trajectory_length); 00119 if(trajectory_lengthT > trajectory_length) 00120 this->trajectory = (moveit_msgs::RobotTrajectory*)realloc(this->trajectory, trajectory_lengthT * sizeof(moveit_msgs::RobotTrajectory)); 00121 trajectory_length = trajectory_lengthT; 00122 for( uint32_t i = 0; i < trajectory_length; i++){ 00123 offset += this->st_trajectory.deserialize(inbuffer + offset); 00124 memcpy( &(this->trajectory[i]), &(this->st_trajectory), sizeof(moveit_msgs::RobotTrajectory)); 00125 } 00126 uint32_t description_lengthT = ((uint32_t) (*(inbuffer + offset))); 00127 description_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00128 description_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00129 description_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00130 offset += sizeof(this->description_length); 00131 if(description_lengthT > description_length) 00132 this->description = (char**)realloc(this->description, description_lengthT * sizeof(char*)); 00133 description_length = description_lengthT; 00134 for( uint32_t i = 0; i < description_length; i++){ 00135 uint32_t length_st_description; 00136 arrToVar(length_st_description, (inbuffer + offset)); 00137 offset += 4; 00138 for(unsigned int k= offset; k< offset+length_st_description; ++k){ 00139 inbuffer[k-1]=inbuffer[k]; 00140 } 00141 inbuffer[offset+length_st_description-1]=0; 00142 this->st_description = (char *)(inbuffer + offset-1); 00143 offset += length_st_description; 00144 memcpy( &(this->description[i]), &(this->st_description), sizeof(char*)); 00145 } 00146 uint32_t processing_time_lengthT = ((uint32_t) (*(inbuffer + offset))); 00147 processing_time_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00148 processing_time_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00149 processing_time_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00150 offset += sizeof(this->processing_time_length); 00151 if(processing_time_lengthT > processing_time_length) 00152 this->processing_time = (double*)realloc(this->processing_time, processing_time_lengthT * sizeof(double)); 00153 processing_time_length = processing_time_lengthT; 00154 for( uint32_t i = 0; i < processing_time_length; i++){ 00155 union { 00156 double real; 00157 uint64_t base; 00158 } u_st_processing_time; 00159 u_st_processing_time.base = 0; 00160 u_st_processing_time.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00161 u_st_processing_time.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00162 u_st_processing_time.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00163 u_st_processing_time.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00164 u_st_processing_time.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00165 u_st_processing_time.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00166 u_st_processing_time.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00167 u_st_processing_time.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00168 this->st_processing_time = u_st_processing_time.real; 00169 offset += sizeof(this->st_processing_time); 00170 memcpy( &(this->processing_time[i]), &(this->st_processing_time), sizeof(double)); 00171 } 00172 offset += this->error_code.deserialize(inbuffer + offset); 00173 return offset; 00174 } 00175 00176 virtual const char * getType(){ return "moveit_msgs/MotionPlanDetailedResponse"; }; 00177 virtual const char * getMD5(){ return "7b84c374bb2e37bdc0eba664f7636a8f"; }; 00178 00179 }; 00180 00181 } 00182 #endif
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