PlanningSceneComponents.h

00001 #ifndef _ROS_moveit_msgs_PlanningSceneComponents_h
00002 #define _ROS_moveit_msgs_PlanningSceneComponents_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace moveit_msgs
00010 {
00011 
00012   class PlanningSceneComponents : public ros::Msg
00013   {
00014     public:
00015       typedef uint32_t _components_type;
00016       _components_type components;
00017       enum { SCENE_SETTINGS = 1 };
00018       enum { ROBOT_STATE = 2 };
00019       enum { ROBOT_STATE_ATTACHED_OBJECTS = 4 };
00020       enum { WORLD_OBJECT_NAMES = 8 };
00021       enum { WORLD_OBJECT_GEOMETRY = 16 };
00022       enum { OCTOMAP = 32 };
00023       enum { TRANSFORMS = 64 };
00024       enum { ALLOWED_COLLISION_MATRIX = 128 };
00025       enum { LINK_PADDING_AND_SCALING = 256 };
00026       enum { OBJECT_COLORS = 512 };
00027 
00028     PlanningSceneComponents():
00029       components(0)
00030     {
00031     }
00032 
00033     virtual int serialize(unsigned char *outbuffer) const
00034     {
00035       int offset = 0;
00036       *(outbuffer + offset + 0) = (this->components >> (8 * 0)) & 0xFF;
00037       *(outbuffer + offset + 1) = (this->components >> (8 * 1)) & 0xFF;
00038       *(outbuffer + offset + 2) = (this->components >> (8 * 2)) & 0xFF;
00039       *(outbuffer + offset + 3) = (this->components >> (8 * 3)) & 0xFF;
00040       offset += sizeof(this->components);
00041       return offset;
00042     }
00043 
00044     virtual int deserialize(unsigned char *inbuffer)
00045     {
00046       int offset = 0;
00047       this->components =  ((uint32_t) (*(inbuffer + offset)));
00048       this->components |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00049       this->components |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00050       this->components |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00051       offset += sizeof(this->components);
00052      return offset;
00053     }
00054 
00055     virtual const char * getType(){ return "moveit_msgs/PlanningSceneComponents"; };
00056     virtual const char * getMD5(){ return "bc993e784476960b918b6e7ad5bb58ce"; };
00057 
00058   };
00059 
00060 }
00061 #endif