MoveGroupResult.h

00001 #ifndef _ROS_moveit_msgs_MoveGroupResult_h
00002 #define _ROS_moveit_msgs_MoveGroupResult_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "moveit_msgs/MoveItErrorCodes.h"
00009 #include "moveit_msgs/RobotState.h"
00010 #include "moveit_msgs/RobotTrajectory.h"
00011 
00012 namespace moveit_msgs
00013 {
00014 
00015   class MoveGroupResult : public ros::Msg
00016   {
00017     public:
00018       typedef moveit_msgs::MoveItErrorCodes _error_code_type;
00019       _error_code_type error_code;
00020       typedef moveit_msgs::RobotState _trajectory_start_type;
00021       _trajectory_start_type trajectory_start;
00022       typedef moveit_msgs::RobotTrajectory _planned_trajectory_type;
00023       _planned_trajectory_type planned_trajectory;
00024       typedef moveit_msgs::RobotTrajectory _executed_trajectory_type;
00025       _executed_trajectory_type executed_trajectory;
00026       typedef double _planning_time_type;
00027       _planning_time_type planning_time;
00028 
00029     MoveGroupResult():
00030       error_code(),
00031       trajectory_start(),
00032       planned_trajectory(),
00033       executed_trajectory(),
00034       planning_time(0)
00035     {
00036     }
00037 
00038     virtual int serialize(unsigned char *outbuffer) const
00039     {
00040       int offset = 0;
00041       offset += this->error_code.serialize(outbuffer + offset);
00042       offset += this->trajectory_start.serialize(outbuffer + offset);
00043       offset += this->planned_trajectory.serialize(outbuffer + offset);
00044       offset += this->executed_trajectory.serialize(outbuffer + offset);
00045       union {
00046         double real;
00047         uint64_t base;
00048       } u_planning_time;
00049       u_planning_time.real = this->planning_time;
00050       *(outbuffer + offset + 0) = (u_planning_time.base >> (8 * 0)) & 0xFF;
00051       *(outbuffer + offset + 1) = (u_planning_time.base >> (8 * 1)) & 0xFF;
00052       *(outbuffer + offset + 2) = (u_planning_time.base >> (8 * 2)) & 0xFF;
00053       *(outbuffer + offset + 3) = (u_planning_time.base >> (8 * 3)) & 0xFF;
00054       *(outbuffer + offset + 4) = (u_planning_time.base >> (8 * 4)) & 0xFF;
00055       *(outbuffer + offset + 5) = (u_planning_time.base >> (8 * 5)) & 0xFF;
00056       *(outbuffer + offset + 6) = (u_planning_time.base >> (8 * 6)) & 0xFF;
00057       *(outbuffer + offset + 7) = (u_planning_time.base >> (8 * 7)) & 0xFF;
00058       offset += sizeof(this->planning_time);
00059       return offset;
00060     }
00061 
00062     virtual int deserialize(unsigned char *inbuffer)
00063     {
00064       int offset = 0;
00065       offset += this->error_code.deserialize(inbuffer + offset);
00066       offset += this->trajectory_start.deserialize(inbuffer + offset);
00067       offset += this->planned_trajectory.deserialize(inbuffer + offset);
00068       offset += this->executed_trajectory.deserialize(inbuffer + offset);
00069       union {
00070         double real;
00071         uint64_t base;
00072       } u_planning_time;
00073       u_planning_time.base = 0;
00074       u_planning_time.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00075       u_planning_time.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00076       u_planning_time.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00077       u_planning_time.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00078       u_planning_time.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00079       u_planning_time.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00080       u_planning_time.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00081       u_planning_time.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00082       this->planning_time = u_planning_time.real;
00083       offset += sizeof(this->planning_time);
00084      return offset;
00085     }
00086 
00087     virtual const char * getType(){ return "moveit_msgs/MoveGroupResult"; };
00088     virtual const char * getMD5(){ return "34098589d402fee7ae9c3fd413e5a6c6"; };
00089 
00090   };
00091 
00092 }
00093 #endif