catchrobo2022
/
catchrobo2022_mbed
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: mbed
Embed:
(wiki syntax)
Show/hide line numbers
OrientationConstraint.h
00001 #ifndef _ROS_moveit_msgs_OrientationConstraint_h 00002 #define _ROS_moveit_msgs_OrientationConstraint_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 #include "std_msgs/Header.h" 00009 #include "geometry_msgs/Quaternion.h" 00010 00011 namespace moveit_msgs 00012 { 00013 00014 class OrientationConstraint : public ros::Msg 00015 { 00016 public: 00017 typedef std_msgs::Header _header_type; 00018 _header_type header; 00019 typedef geometry_msgs::Quaternion _orientation_type; 00020 _orientation_type orientation; 00021 typedef const char* _link_name_type; 00022 _link_name_type link_name; 00023 typedef double _absolute_x_axis_tolerance_type; 00024 _absolute_x_axis_tolerance_type absolute_x_axis_tolerance; 00025 typedef double _absolute_y_axis_tolerance_type; 00026 _absolute_y_axis_tolerance_type absolute_y_axis_tolerance; 00027 typedef double _absolute_z_axis_tolerance_type; 00028 _absolute_z_axis_tolerance_type absolute_z_axis_tolerance; 00029 typedef double _weight_type; 00030 _weight_type weight; 00031 00032 OrientationConstraint(): 00033 header(), 00034 orientation(), 00035 link_name(""), 00036 absolute_x_axis_tolerance(0), 00037 absolute_y_axis_tolerance(0), 00038 absolute_z_axis_tolerance(0), 00039 weight(0) 00040 { 00041 } 00042 00043 virtual int serialize(unsigned char *outbuffer) const 00044 { 00045 int offset = 0; 00046 offset += this->header.serialize(outbuffer + offset); 00047 offset += this->orientation.serialize(outbuffer + offset); 00048 uint32_t length_link_name = strlen(this->link_name); 00049 varToArr(outbuffer + offset, length_link_name); 00050 offset += 4; 00051 memcpy(outbuffer + offset, this->link_name, length_link_name); 00052 offset += length_link_name; 00053 union { 00054 double real; 00055 uint64_t base; 00056 } u_absolute_x_axis_tolerance; 00057 u_absolute_x_axis_tolerance.real = this->absolute_x_axis_tolerance; 00058 *(outbuffer + offset + 0) = (u_absolute_x_axis_tolerance.base >> (8 * 0)) & 0xFF; 00059 *(outbuffer + offset + 1) = (u_absolute_x_axis_tolerance.base >> (8 * 1)) & 0xFF; 00060 *(outbuffer + offset + 2) = (u_absolute_x_axis_tolerance.base >> (8 * 2)) & 0xFF; 00061 *(outbuffer + offset + 3) = (u_absolute_x_axis_tolerance.base >> (8 * 3)) & 0xFF; 00062 *(outbuffer + offset + 4) = (u_absolute_x_axis_tolerance.base >> (8 * 4)) & 0xFF; 00063 *(outbuffer + offset + 5) = (u_absolute_x_axis_tolerance.base >> (8 * 5)) & 0xFF; 00064 *(outbuffer + offset + 6) = (u_absolute_x_axis_tolerance.base >> (8 * 6)) & 0xFF; 00065 *(outbuffer + offset + 7) = (u_absolute_x_axis_tolerance.base >> (8 * 7)) & 0xFF; 00066 offset += sizeof(this->absolute_x_axis_tolerance); 00067 union { 00068 double real; 00069 uint64_t base; 00070 } u_absolute_y_axis_tolerance; 00071 u_absolute_y_axis_tolerance.real = this->absolute_y_axis_tolerance; 00072 *(outbuffer + offset + 0) = (u_absolute_y_axis_tolerance.base >> (8 * 0)) & 0xFF; 00073 *(outbuffer + offset + 1) = (u_absolute_y_axis_tolerance.base >> (8 * 1)) & 0xFF; 00074 *(outbuffer + offset + 2) = (u_absolute_y_axis_tolerance.base >> (8 * 2)) & 0xFF; 00075 *(outbuffer + offset + 3) = (u_absolute_y_axis_tolerance.base >> (8 * 3)) & 0xFF; 00076 *(outbuffer + offset + 4) = (u_absolute_y_axis_tolerance.base >> (8 * 4)) & 0xFF; 00077 *(outbuffer + offset + 5) = (u_absolute_y_axis_tolerance.base >> (8 * 5)) & 0xFF; 00078 *(outbuffer + offset + 6) = (u_absolute_y_axis_tolerance.base >> (8 * 6)) & 0xFF; 00079 *(outbuffer + offset + 7) = (u_absolute_y_axis_tolerance.base >> (8 * 7)) & 0xFF; 00080 offset += sizeof(this->absolute_y_axis_tolerance); 00081 union { 00082 double real; 00083 uint64_t base; 00084 } u_absolute_z_axis_tolerance; 00085 u_absolute_z_axis_tolerance.real = this->absolute_z_axis_tolerance; 00086 *(outbuffer + offset + 0) = (u_absolute_z_axis_tolerance.base >> (8 * 0)) & 0xFF; 00087 *(outbuffer + offset + 1) = (u_absolute_z_axis_tolerance.base >> (8 * 1)) & 0xFF; 00088 *(outbuffer + offset + 2) = (u_absolute_z_axis_tolerance.base >> (8 * 2)) & 0xFF; 00089 *(outbuffer + offset + 3) = (u_absolute_z_axis_tolerance.base >> (8 * 3)) & 0xFF; 00090 *(outbuffer + offset + 4) = (u_absolute_z_axis_tolerance.base >> (8 * 4)) & 0xFF; 00091 *(outbuffer + offset + 5) = (u_absolute_z_axis_tolerance.base >> (8 * 5)) & 0xFF; 00092 *(outbuffer + offset + 6) = (u_absolute_z_axis_tolerance.base >> (8 * 6)) & 0xFF; 00093 *(outbuffer + offset + 7) = (u_absolute_z_axis_tolerance.base >> (8 * 7)) & 0xFF; 00094 offset += sizeof(this->absolute_z_axis_tolerance); 00095 union { 00096 double real; 00097 uint64_t base; 00098 } u_weight; 00099 u_weight.real = this->weight; 00100 *(outbuffer + offset + 0) = (u_weight.base >> (8 * 0)) & 0xFF; 00101 *(outbuffer + offset + 1) = (u_weight.base >> (8 * 1)) & 0xFF; 00102 *(outbuffer + offset + 2) = (u_weight.base >> (8 * 2)) & 0xFF; 00103 *(outbuffer + offset + 3) = (u_weight.base >> (8 * 3)) & 0xFF; 00104 *(outbuffer + offset + 4) = (u_weight.base >> (8 * 4)) & 0xFF; 00105 *(outbuffer + offset + 5) = (u_weight.base >> (8 * 5)) & 0xFF; 00106 *(outbuffer + offset + 6) = (u_weight.base >> (8 * 6)) & 0xFF; 00107 *(outbuffer + offset + 7) = (u_weight.base >> (8 * 7)) & 0xFF; 00108 offset += sizeof(this->weight); 00109 return offset; 00110 } 00111 00112 virtual int deserialize(unsigned char *inbuffer) 00113 { 00114 int offset = 0; 00115 offset += this->header.deserialize(inbuffer + offset); 00116 offset += this->orientation.deserialize(inbuffer + offset); 00117 uint32_t length_link_name; 00118 arrToVar(length_link_name, (inbuffer + offset)); 00119 offset += 4; 00120 for(unsigned int k= offset; k< offset+length_link_name; ++k){ 00121 inbuffer[k-1]=inbuffer[k]; 00122 } 00123 inbuffer[offset+length_link_name-1]=0; 00124 this->link_name = (char *)(inbuffer + offset-1); 00125 offset += length_link_name; 00126 union { 00127 double real; 00128 uint64_t base; 00129 } u_absolute_x_axis_tolerance; 00130 u_absolute_x_axis_tolerance.base = 0; 00131 u_absolute_x_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00132 u_absolute_x_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00133 u_absolute_x_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00134 u_absolute_x_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00135 u_absolute_x_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00136 u_absolute_x_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00137 u_absolute_x_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00138 u_absolute_x_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00139 this->absolute_x_axis_tolerance = u_absolute_x_axis_tolerance.real; 00140 offset += sizeof(this->absolute_x_axis_tolerance); 00141 union { 00142 double real; 00143 uint64_t base; 00144 } u_absolute_y_axis_tolerance; 00145 u_absolute_y_axis_tolerance.base = 0; 00146 u_absolute_y_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00147 u_absolute_y_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00148 u_absolute_y_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00149 u_absolute_y_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00150 u_absolute_y_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00151 u_absolute_y_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00152 u_absolute_y_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00153 u_absolute_y_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00154 this->absolute_y_axis_tolerance = u_absolute_y_axis_tolerance.real; 00155 offset += sizeof(this->absolute_y_axis_tolerance); 00156 union { 00157 double real; 00158 uint64_t base; 00159 } u_absolute_z_axis_tolerance; 00160 u_absolute_z_axis_tolerance.base = 0; 00161 u_absolute_z_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00162 u_absolute_z_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00163 u_absolute_z_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00164 u_absolute_z_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00165 u_absolute_z_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00166 u_absolute_z_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00167 u_absolute_z_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00168 u_absolute_z_axis_tolerance.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00169 this->absolute_z_axis_tolerance = u_absolute_z_axis_tolerance.real; 00170 offset += sizeof(this->absolute_z_axis_tolerance); 00171 union { 00172 double real; 00173 uint64_t base; 00174 } u_weight; 00175 u_weight.base = 0; 00176 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00177 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00178 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00179 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00180 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00181 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00182 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00183 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00184 this->weight = u_weight.real; 00185 offset += sizeof(this->weight); 00186 return offset; 00187 } 00188 00189 virtual const char * getType(){ return "moveit_msgs/OrientationConstraint"; }; 00190 virtual const char * getMD5(){ return "ab5cefb9bc4c0089620f5eb4caf4e59a"; }; 00191 00192 }; 00193 00194 } 00195 #endif
Generated on Mon Sep 26 2022 13:47:02 by
1.7.2