PlanningSceneWorld.h

00001 #ifndef _ROS_moveit_msgs_PlanningSceneWorld_h
00002 #define _ROS_moveit_msgs_PlanningSceneWorld_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "moveit_msgs/CollisionObject.h"
00009 #include "octomap_msgs/OctomapWithPose.h"
00010 
00011 namespace moveit_msgs
00012 {
00013 
00014   class PlanningSceneWorld : public ros::Msg
00015   {
00016     public:
00017       uint32_t collision_objects_length;
00018       typedef moveit_msgs::CollisionObject _collision_objects_type;
00019       _collision_objects_type st_collision_objects;
00020       _collision_objects_type * collision_objects;
00021       typedef octomap_msgs::OctomapWithPose _octomap_type;
00022       _octomap_type octomap;
00023 
00024     PlanningSceneWorld():
00025       collision_objects_length(0), collision_objects(NULL),
00026       octomap()
00027     {
00028     }
00029 
00030     virtual int serialize(unsigned char *outbuffer) const
00031     {
00032       int offset = 0;
00033       *(outbuffer + offset + 0) = (this->collision_objects_length >> (8 * 0)) & 0xFF;
00034       *(outbuffer + offset + 1) = (this->collision_objects_length >> (8 * 1)) & 0xFF;
00035       *(outbuffer + offset + 2) = (this->collision_objects_length >> (8 * 2)) & 0xFF;
00036       *(outbuffer + offset + 3) = (this->collision_objects_length >> (8 * 3)) & 0xFF;
00037       offset += sizeof(this->collision_objects_length);
00038       for( uint32_t i = 0; i < collision_objects_length; i++){
00039       offset += this->collision_objects[i].serialize(outbuffer + offset);
00040       }
00041       offset += this->octomap.serialize(outbuffer + offset);
00042       return offset;
00043     }
00044 
00045     virtual int deserialize(unsigned char *inbuffer)
00046     {
00047       int offset = 0;
00048       uint32_t collision_objects_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00049       collision_objects_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00050       collision_objects_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00051       collision_objects_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00052       offset += sizeof(this->collision_objects_length);
00053       if(collision_objects_lengthT > collision_objects_length)
00054         this->collision_objects = (moveit_msgs::CollisionObject*)realloc(this->collision_objects, collision_objects_lengthT * sizeof(moveit_msgs::CollisionObject));
00055       collision_objects_length = collision_objects_lengthT;
00056       for( uint32_t i = 0; i < collision_objects_length; i++){
00057       offset += this->st_collision_objects.deserialize(inbuffer + offset);
00058         memcpy( &(this->collision_objects[i]), &(this->st_collision_objects), sizeof(moveit_msgs::CollisionObject));
00059       }
00060       offset += this->octomap.deserialize(inbuffer + offset);
00061      return offset;
00062     }
00063 
00064     virtual const char * getType(){ return "moveit_msgs/PlanningSceneWorld"; };
00065     virtual const char * getMD5(){ return "373d88390d1db385335639f687723ee6"; };
00066 
00067   };
00068 
00069 }
00070 #endif