PickupGoal.h

00001 #ifndef _ROS_moveit_msgs_PickupGoal_h
00002 #define _ROS_moveit_msgs_PickupGoal_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "moveit_msgs/Grasp.h"
00009 #include "moveit_msgs/Constraints.h"
00010 #include "moveit_msgs/PlanningOptions.h"
00011 
00012 namespace moveit_msgs
00013 {
00014 
00015   class PickupGoal : public ros::Msg
00016   {
00017     public:
00018       typedef const char* _target_name_type;
00019       _target_name_type target_name;
00020       typedef const char* _group_name_type;
00021       _group_name_type group_name;
00022       typedef const char* _end_effector_type;
00023       _end_effector_type end_effector;
00024       uint32_t possible_grasps_length;
00025       typedef moveit_msgs::Grasp _possible_grasps_type;
00026       _possible_grasps_type st_possible_grasps;
00027       _possible_grasps_type * possible_grasps;
00028       typedef const char* _support_surface_name_type;
00029       _support_surface_name_type support_surface_name;
00030       typedef bool _allow_gripper_support_collision_type;
00031       _allow_gripper_support_collision_type allow_gripper_support_collision;
00032       uint32_t attached_object_touch_links_length;
00033       typedef char* _attached_object_touch_links_type;
00034       _attached_object_touch_links_type st_attached_object_touch_links;
00035       _attached_object_touch_links_type * attached_object_touch_links;
00036       typedef bool _minimize_object_distance_type;
00037       _minimize_object_distance_type minimize_object_distance;
00038       typedef moveit_msgs::Constraints _path_constraints_type;
00039       _path_constraints_type path_constraints;
00040       typedef const char* _planner_id_type;
00041       _planner_id_type planner_id;
00042       uint32_t allowed_touch_objects_length;
00043       typedef char* _allowed_touch_objects_type;
00044       _allowed_touch_objects_type st_allowed_touch_objects;
00045       _allowed_touch_objects_type * allowed_touch_objects;
00046       typedef double _allowed_planning_time_type;
00047       _allowed_planning_time_type allowed_planning_time;
00048       typedef moveit_msgs::PlanningOptions _planning_options_type;
00049       _planning_options_type planning_options;
00050 
00051     PickupGoal():
00052       target_name(""),
00053       group_name(""),
00054       end_effector(""),
00055       possible_grasps_length(0), possible_grasps(NULL),
00056       support_surface_name(""),
00057       allow_gripper_support_collision(0),
00058       attached_object_touch_links_length(0), attached_object_touch_links(NULL),
00059       minimize_object_distance(0),
00060       path_constraints(),
00061       planner_id(""),
00062       allowed_touch_objects_length(0), allowed_touch_objects(NULL),
00063       allowed_planning_time(0),
00064       planning_options()
00065     {
00066     }
00067 
00068     virtual int serialize(unsigned char *outbuffer) const
00069     {
00070       int offset = 0;
00071       uint32_t length_target_name = strlen(this->target_name);
00072       varToArr(outbuffer + offset, length_target_name);
00073       offset += 4;
00074       memcpy(outbuffer + offset, this->target_name, length_target_name);
00075       offset += length_target_name;
00076       uint32_t length_group_name = strlen(this->group_name);
00077       varToArr(outbuffer + offset, length_group_name);
00078       offset += 4;
00079       memcpy(outbuffer + offset, this->group_name, length_group_name);
00080       offset += length_group_name;
00081       uint32_t length_end_effector = strlen(this->end_effector);
00082       varToArr(outbuffer + offset, length_end_effector);
00083       offset += 4;
00084       memcpy(outbuffer + offset, this->end_effector, length_end_effector);
00085       offset += length_end_effector;
00086       *(outbuffer + offset + 0) = (this->possible_grasps_length >> (8 * 0)) & 0xFF;
00087       *(outbuffer + offset + 1) = (this->possible_grasps_length >> (8 * 1)) & 0xFF;
00088       *(outbuffer + offset + 2) = (this->possible_grasps_length >> (8 * 2)) & 0xFF;
00089       *(outbuffer + offset + 3) = (this->possible_grasps_length >> (8 * 3)) & 0xFF;
00090       offset += sizeof(this->possible_grasps_length);
00091       for( uint32_t i = 0; i < possible_grasps_length; i++){
00092       offset += this->possible_grasps[i].serialize(outbuffer + offset);
00093       }
00094       uint32_t length_support_surface_name = strlen(this->support_surface_name);
00095       varToArr(outbuffer + offset, length_support_surface_name);
00096       offset += 4;
00097       memcpy(outbuffer + offset, this->support_surface_name, length_support_surface_name);
00098       offset += length_support_surface_name;
00099       union {
00100         bool real;
00101         uint8_t base;
00102       } u_allow_gripper_support_collision;
00103       u_allow_gripper_support_collision.real = this->allow_gripper_support_collision;
00104       *(outbuffer + offset + 0) = (u_allow_gripper_support_collision.base >> (8 * 0)) & 0xFF;
00105       offset += sizeof(this->allow_gripper_support_collision);
00106       *(outbuffer + offset + 0) = (this->attached_object_touch_links_length >> (8 * 0)) & 0xFF;
00107       *(outbuffer + offset + 1) = (this->attached_object_touch_links_length >> (8 * 1)) & 0xFF;
00108       *(outbuffer + offset + 2) = (this->attached_object_touch_links_length >> (8 * 2)) & 0xFF;
00109       *(outbuffer + offset + 3) = (this->attached_object_touch_links_length >> (8 * 3)) & 0xFF;
00110       offset += sizeof(this->attached_object_touch_links_length);
00111       for( uint32_t i = 0; i < attached_object_touch_links_length; i++){
00112       uint32_t length_attached_object_touch_linksi = strlen(this->attached_object_touch_links[i]);
00113       varToArr(outbuffer + offset, length_attached_object_touch_linksi);
00114       offset += 4;
00115       memcpy(outbuffer + offset, this->attached_object_touch_links[i], length_attached_object_touch_linksi);
00116       offset += length_attached_object_touch_linksi;
00117       }
00118       union {
00119         bool real;
00120         uint8_t base;
00121       } u_minimize_object_distance;
00122       u_minimize_object_distance.real = this->minimize_object_distance;
00123       *(outbuffer + offset + 0) = (u_minimize_object_distance.base >> (8 * 0)) & 0xFF;
00124       offset += sizeof(this->minimize_object_distance);
00125       offset += this->path_constraints.serialize(outbuffer + offset);
00126       uint32_t length_planner_id = strlen(this->planner_id);
00127       varToArr(outbuffer + offset, length_planner_id);
00128       offset += 4;
00129       memcpy(outbuffer + offset, this->planner_id, length_planner_id);
00130       offset += length_planner_id;
00131       *(outbuffer + offset + 0) = (this->allowed_touch_objects_length >> (8 * 0)) & 0xFF;
00132       *(outbuffer + offset + 1) = (this->allowed_touch_objects_length >> (8 * 1)) & 0xFF;
00133       *(outbuffer + offset + 2) = (this->allowed_touch_objects_length >> (8 * 2)) & 0xFF;
00134       *(outbuffer + offset + 3) = (this->allowed_touch_objects_length >> (8 * 3)) & 0xFF;
00135       offset += sizeof(this->allowed_touch_objects_length);
00136       for( uint32_t i = 0; i < allowed_touch_objects_length; i++){
00137       uint32_t length_allowed_touch_objectsi = strlen(this->allowed_touch_objects[i]);
00138       varToArr(outbuffer + offset, length_allowed_touch_objectsi);
00139       offset += 4;
00140       memcpy(outbuffer + offset, this->allowed_touch_objects[i], length_allowed_touch_objectsi);
00141       offset += length_allowed_touch_objectsi;
00142       }
00143       union {
00144         double real;
00145         uint64_t base;
00146       } u_allowed_planning_time;
00147       u_allowed_planning_time.real = this->allowed_planning_time;
00148       *(outbuffer + offset + 0) = (u_allowed_planning_time.base >> (8 * 0)) & 0xFF;
00149       *(outbuffer + offset + 1) = (u_allowed_planning_time.base >> (8 * 1)) & 0xFF;
00150       *(outbuffer + offset + 2) = (u_allowed_planning_time.base >> (8 * 2)) & 0xFF;
00151       *(outbuffer + offset + 3) = (u_allowed_planning_time.base >> (8 * 3)) & 0xFF;
00152       *(outbuffer + offset + 4) = (u_allowed_planning_time.base >> (8 * 4)) & 0xFF;
00153       *(outbuffer + offset + 5) = (u_allowed_planning_time.base >> (8 * 5)) & 0xFF;
00154       *(outbuffer + offset + 6) = (u_allowed_planning_time.base >> (8 * 6)) & 0xFF;
00155       *(outbuffer + offset + 7) = (u_allowed_planning_time.base >> (8 * 7)) & 0xFF;
00156       offset += sizeof(this->allowed_planning_time);
00157       offset += this->planning_options.serialize(outbuffer + offset);
00158       return offset;
00159     }
00160 
00161     virtual int deserialize(unsigned char *inbuffer)
00162     {
00163       int offset = 0;
00164       uint32_t length_target_name;
00165       arrToVar(length_target_name, (inbuffer + offset));
00166       offset += 4;
00167       for(unsigned int k= offset; k< offset+length_target_name; ++k){
00168           inbuffer[k-1]=inbuffer[k];
00169       }
00170       inbuffer[offset+length_target_name-1]=0;
00171       this->target_name = (char *)(inbuffer + offset-1);
00172       offset += length_target_name;
00173       uint32_t length_group_name;
00174       arrToVar(length_group_name, (inbuffer + offset));
00175       offset += 4;
00176       for(unsigned int k= offset; k< offset+length_group_name; ++k){
00177           inbuffer[k-1]=inbuffer[k];
00178       }
00179       inbuffer[offset+length_group_name-1]=0;
00180       this->group_name = (char *)(inbuffer + offset-1);
00181       offset += length_group_name;
00182       uint32_t length_end_effector;
00183       arrToVar(length_end_effector, (inbuffer + offset));
00184       offset += 4;
00185       for(unsigned int k= offset; k< offset+length_end_effector; ++k){
00186           inbuffer[k-1]=inbuffer[k];
00187       }
00188       inbuffer[offset+length_end_effector-1]=0;
00189       this->end_effector = (char *)(inbuffer + offset-1);
00190       offset += length_end_effector;
00191       uint32_t possible_grasps_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00192       possible_grasps_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00193       possible_grasps_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00194       possible_grasps_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00195       offset += sizeof(this->possible_grasps_length);
00196       if(possible_grasps_lengthT > possible_grasps_length)
00197         this->possible_grasps = (moveit_msgs::Grasp*)realloc(this->possible_grasps, possible_grasps_lengthT * sizeof(moveit_msgs::Grasp));
00198       possible_grasps_length = possible_grasps_lengthT;
00199       for( uint32_t i = 0; i < possible_grasps_length; i++){
00200       offset += this->st_possible_grasps.deserialize(inbuffer + offset);
00201         memcpy( &(this->possible_grasps[i]), &(this->st_possible_grasps), sizeof(moveit_msgs::Grasp));
00202       }
00203       uint32_t length_support_surface_name;
00204       arrToVar(length_support_surface_name, (inbuffer + offset));
00205       offset += 4;
00206       for(unsigned int k= offset; k< offset+length_support_surface_name; ++k){
00207           inbuffer[k-1]=inbuffer[k];
00208       }
00209       inbuffer[offset+length_support_surface_name-1]=0;
00210       this->support_surface_name = (char *)(inbuffer + offset-1);
00211       offset += length_support_surface_name;
00212       union {
00213         bool real;
00214         uint8_t base;
00215       } u_allow_gripper_support_collision;
00216       u_allow_gripper_support_collision.base = 0;
00217       u_allow_gripper_support_collision.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00218       this->allow_gripper_support_collision = u_allow_gripper_support_collision.real;
00219       offset += sizeof(this->allow_gripper_support_collision);
00220       uint32_t attached_object_touch_links_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00221       attached_object_touch_links_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00222       attached_object_touch_links_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00223       attached_object_touch_links_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00224       offset += sizeof(this->attached_object_touch_links_length);
00225       if(attached_object_touch_links_lengthT > attached_object_touch_links_length)
00226         this->attached_object_touch_links = (char**)realloc(this->attached_object_touch_links, attached_object_touch_links_lengthT * sizeof(char*));
00227       attached_object_touch_links_length = attached_object_touch_links_lengthT;
00228       for( uint32_t i = 0; i < attached_object_touch_links_length; i++){
00229       uint32_t length_st_attached_object_touch_links;
00230       arrToVar(length_st_attached_object_touch_links, (inbuffer + offset));
00231       offset += 4;
00232       for(unsigned int k= offset; k< offset+length_st_attached_object_touch_links; ++k){
00233           inbuffer[k-1]=inbuffer[k];
00234       }
00235       inbuffer[offset+length_st_attached_object_touch_links-1]=0;
00236       this->st_attached_object_touch_links = (char *)(inbuffer + offset-1);
00237       offset += length_st_attached_object_touch_links;
00238         memcpy( &(this->attached_object_touch_links[i]), &(this->st_attached_object_touch_links), sizeof(char*));
00239       }
00240       union {
00241         bool real;
00242         uint8_t base;
00243       } u_minimize_object_distance;
00244       u_minimize_object_distance.base = 0;
00245       u_minimize_object_distance.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00246       this->minimize_object_distance = u_minimize_object_distance.real;
00247       offset += sizeof(this->minimize_object_distance);
00248       offset += this->path_constraints.deserialize(inbuffer + offset);
00249       uint32_t length_planner_id;
00250       arrToVar(length_planner_id, (inbuffer + offset));
00251       offset += 4;
00252       for(unsigned int k= offset; k< offset+length_planner_id; ++k){
00253           inbuffer[k-1]=inbuffer[k];
00254       }
00255       inbuffer[offset+length_planner_id-1]=0;
00256       this->planner_id = (char *)(inbuffer + offset-1);
00257       offset += length_planner_id;
00258       uint32_t allowed_touch_objects_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00259       allowed_touch_objects_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00260       allowed_touch_objects_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00261       allowed_touch_objects_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00262       offset += sizeof(this->allowed_touch_objects_length);
00263       if(allowed_touch_objects_lengthT > allowed_touch_objects_length)
00264         this->allowed_touch_objects = (char**)realloc(this->allowed_touch_objects, allowed_touch_objects_lengthT * sizeof(char*));
00265       allowed_touch_objects_length = allowed_touch_objects_lengthT;
00266       for( uint32_t i = 0; i < allowed_touch_objects_length; i++){
00267       uint32_t length_st_allowed_touch_objects;
00268       arrToVar(length_st_allowed_touch_objects, (inbuffer + offset));
00269       offset += 4;
00270       for(unsigned int k= offset; k< offset+length_st_allowed_touch_objects; ++k){
00271           inbuffer[k-1]=inbuffer[k];
00272       }
00273       inbuffer[offset+length_st_allowed_touch_objects-1]=0;
00274       this->st_allowed_touch_objects = (char *)(inbuffer + offset-1);
00275       offset += length_st_allowed_touch_objects;
00276         memcpy( &(this->allowed_touch_objects[i]), &(this->st_allowed_touch_objects), sizeof(char*));
00277       }
00278       union {
00279         double real;
00280         uint64_t base;
00281       } u_allowed_planning_time;
00282       u_allowed_planning_time.base = 0;
00283       u_allowed_planning_time.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00284       u_allowed_planning_time.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00285       u_allowed_planning_time.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00286       u_allowed_planning_time.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00287       u_allowed_planning_time.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00288       u_allowed_planning_time.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00289       u_allowed_planning_time.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00290       u_allowed_planning_time.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00291       this->allowed_planning_time = u_allowed_planning_time.real;
00292       offset += sizeof(this->allowed_planning_time);
00293       offset += this->planning_options.deserialize(inbuffer + offset);
00294      return offset;
00295     }
00296 
00297     virtual const char * getType(){ return "moveit_msgs/PickupGoal"; };
00298     virtual const char * getMD5(){ return "458c6ab3761d73e99b070063f7b74c2a"; };
00299 
00300   };
00301 
00302 }
00303 #endif