PlaceLocation.h

00001 #ifndef _ROS_moveit_msgs_PlaceLocation_h
00002 #define _ROS_moveit_msgs_PlaceLocation_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "trajectory_msgs/JointTrajectory.h"
00009 #include "geometry_msgs/PoseStamped.h"
00010 #include "moveit_msgs/GripperTranslation.h"
00011 
00012 namespace moveit_msgs
00013 {
00014 
00015   class PlaceLocation : public ros::Msg
00016   {
00017     public:
00018       typedef const char* _id_type;
00019       _id_type id;
00020       typedef trajectory_msgs::JointTrajectory _post_place_posture_type;
00021       _post_place_posture_type post_place_posture;
00022       typedef geometry_msgs::PoseStamped _place_pose_type;
00023       _place_pose_type place_pose;
00024       typedef moveit_msgs::GripperTranslation _pre_place_approach_type;
00025       _pre_place_approach_type pre_place_approach;
00026       typedef moveit_msgs::GripperTranslation _post_place_retreat_type;
00027       _post_place_retreat_type post_place_retreat;
00028       uint32_t allowed_touch_objects_length;
00029       typedef char* _allowed_touch_objects_type;
00030       _allowed_touch_objects_type st_allowed_touch_objects;
00031       _allowed_touch_objects_type * allowed_touch_objects;
00032 
00033     PlaceLocation():
00034       id(""),
00035       post_place_posture(),
00036       place_pose(),
00037       pre_place_approach(),
00038       post_place_retreat(),
00039       allowed_touch_objects_length(0), allowed_touch_objects(NULL)
00040     {
00041     }
00042 
00043     virtual int serialize(unsigned char *outbuffer) const
00044     {
00045       int offset = 0;
00046       uint32_t length_id = strlen(this->id);
00047       varToArr(outbuffer + offset, length_id);
00048       offset += 4;
00049       memcpy(outbuffer + offset, this->id, length_id);
00050       offset += length_id;
00051       offset += this->post_place_posture.serialize(outbuffer + offset);
00052       offset += this->place_pose.serialize(outbuffer + offset);
00053       offset += this->pre_place_approach.serialize(outbuffer + offset);
00054       offset += this->post_place_retreat.serialize(outbuffer + offset);
00055       *(outbuffer + offset + 0) = (this->allowed_touch_objects_length >> (8 * 0)) & 0xFF;
00056       *(outbuffer + offset + 1) = (this->allowed_touch_objects_length >> (8 * 1)) & 0xFF;
00057       *(outbuffer + offset + 2) = (this->allowed_touch_objects_length >> (8 * 2)) & 0xFF;
00058       *(outbuffer + offset + 3) = (this->allowed_touch_objects_length >> (8 * 3)) & 0xFF;
00059       offset += sizeof(this->allowed_touch_objects_length);
00060       for( uint32_t i = 0; i < allowed_touch_objects_length; i++){
00061       uint32_t length_allowed_touch_objectsi = strlen(this->allowed_touch_objects[i]);
00062       varToArr(outbuffer + offset, length_allowed_touch_objectsi);
00063       offset += 4;
00064       memcpy(outbuffer + offset, this->allowed_touch_objects[i], length_allowed_touch_objectsi);
00065       offset += length_allowed_touch_objectsi;
00066       }
00067       return offset;
00068     }
00069 
00070     virtual int deserialize(unsigned char *inbuffer)
00071     {
00072       int offset = 0;
00073       uint32_t length_id;
00074       arrToVar(length_id, (inbuffer + offset));
00075       offset += 4;
00076       for(unsigned int k= offset; k< offset+length_id; ++k){
00077           inbuffer[k-1]=inbuffer[k];
00078       }
00079       inbuffer[offset+length_id-1]=0;
00080       this->id = (char *)(inbuffer + offset-1);
00081       offset += length_id;
00082       offset += this->post_place_posture.deserialize(inbuffer + offset);
00083       offset += this->place_pose.deserialize(inbuffer + offset);
00084       offset += this->pre_place_approach.deserialize(inbuffer + offset);
00085       offset += this->post_place_retreat.deserialize(inbuffer + offset);
00086       uint32_t allowed_touch_objects_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00087       allowed_touch_objects_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00088       allowed_touch_objects_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00089       allowed_touch_objects_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00090       offset += sizeof(this->allowed_touch_objects_length);
00091       if(allowed_touch_objects_lengthT > allowed_touch_objects_length)
00092         this->allowed_touch_objects = (char**)realloc(this->allowed_touch_objects, allowed_touch_objects_lengthT * sizeof(char*));
00093       allowed_touch_objects_length = allowed_touch_objects_lengthT;
00094       for( uint32_t i = 0; i < allowed_touch_objects_length; i++){
00095       uint32_t length_st_allowed_touch_objects;
00096       arrToVar(length_st_allowed_touch_objects, (inbuffer + offset));
00097       offset += 4;
00098       for(unsigned int k= offset; k< offset+length_st_allowed_touch_objects; ++k){
00099           inbuffer[k-1]=inbuffer[k];
00100       }
00101       inbuffer[offset+length_st_allowed_touch_objects-1]=0;
00102       this->st_allowed_touch_objects = (char *)(inbuffer + offset-1);
00103       offset += length_st_allowed_touch_objects;
00104         memcpy( &(this->allowed_touch_objects[i]), &(this->st_allowed_touch_objects), sizeof(char*));
00105       }
00106      return offset;
00107     }
00108 
00109     virtual const char * getType(){ return "moveit_msgs/PlaceLocation"; };
00110     virtual const char * getMD5(){ return "f3dbcaca40fb29ede2af78b3e1831128"; };
00111 
00112   };
00113 
00114 }
00115 #endif