RobotState.h

00001 #ifndef _ROS_moveit_msgs_RobotState_h
00002 #define _ROS_moveit_msgs_RobotState_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "sensor_msgs/JointState.h"
00009 #include "sensor_msgs/MultiDOFJointState.h"
00010 #include "moveit_msgs/AttachedCollisionObject.h"
00011 
00012 namespace moveit_msgs
00013 {
00014 
00015   class RobotState : public ros::Msg
00016   {
00017     public:
00018       typedef sensor_msgs::JointState _joint_state_type;
00019       _joint_state_type joint_state;
00020       typedef sensor_msgs::MultiDOFJointState _multi_dof_joint_state_type;
00021       _multi_dof_joint_state_type multi_dof_joint_state;
00022       uint32_t attached_collision_objects_length;
00023       typedef moveit_msgs::AttachedCollisionObject _attached_collision_objects_type;
00024       _attached_collision_objects_type st_attached_collision_objects;
00025       _attached_collision_objects_type * attached_collision_objects;
00026       typedef bool _is_diff_type;
00027       _is_diff_type is_diff;
00028 
00029     RobotState():
00030       joint_state(),
00031       multi_dof_joint_state(),
00032       attached_collision_objects_length(0), attached_collision_objects(NULL),
00033       is_diff(0)
00034     {
00035     }
00036 
00037     virtual int serialize(unsigned char *outbuffer) const
00038     {
00039       int offset = 0;
00040       offset += this->joint_state.serialize(outbuffer + offset);
00041       offset += this->multi_dof_joint_state.serialize(outbuffer + offset);
00042       *(outbuffer + offset + 0) = (this->attached_collision_objects_length >> (8 * 0)) & 0xFF;
00043       *(outbuffer + offset + 1) = (this->attached_collision_objects_length >> (8 * 1)) & 0xFF;
00044       *(outbuffer + offset + 2) = (this->attached_collision_objects_length >> (8 * 2)) & 0xFF;
00045       *(outbuffer + offset + 3) = (this->attached_collision_objects_length >> (8 * 3)) & 0xFF;
00046       offset += sizeof(this->attached_collision_objects_length);
00047       for( uint32_t i = 0; i < attached_collision_objects_length; i++){
00048       offset += this->attached_collision_objects[i].serialize(outbuffer + offset);
00049       }
00050       union {
00051         bool real;
00052         uint8_t base;
00053       } u_is_diff;
00054       u_is_diff.real = this->is_diff;
00055       *(outbuffer + offset + 0) = (u_is_diff.base >> (8 * 0)) & 0xFF;
00056       offset += sizeof(this->is_diff);
00057       return offset;
00058     }
00059 
00060     virtual int deserialize(unsigned char *inbuffer)
00061     {
00062       int offset = 0;
00063       offset += this->joint_state.deserialize(inbuffer + offset);
00064       offset += this->multi_dof_joint_state.deserialize(inbuffer + offset);
00065       uint32_t attached_collision_objects_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00066       attached_collision_objects_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00067       attached_collision_objects_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00068       attached_collision_objects_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00069       offset += sizeof(this->attached_collision_objects_length);
00070       if(attached_collision_objects_lengthT > attached_collision_objects_length)
00071         this->attached_collision_objects = (moveit_msgs::AttachedCollisionObject*)realloc(this->attached_collision_objects, attached_collision_objects_lengthT * sizeof(moveit_msgs::AttachedCollisionObject));
00072       attached_collision_objects_length = attached_collision_objects_lengthT;
00073       for( uint32_t i = 0; i < attached_collision_objects_length; i++){
00074       offset += this->st_attached_collision_objects.deserialize(inbuffer + offset);
00075         memcpy( &(this->attached_collision_objects[i]), &(this->st_attached_collision_objects), sizeof(moveit_msgs::AttachedCollisionObject));
00076       }
00077       union {
00078         bool real;
00079         uint8_t base;
00080       } u_is_diff;
00081       u_is_diff.base = 0;
00082       u_is_diff.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00083       this->is_diff = u_is_diff.real;
00084       offset += sizeof(this->is_diff);
00085      return offset;
00086     }
00087 
00088     virtual const char * getType(){ return "moveit_msgs/RobotState"; };
00089     virtual const char * getMD5(){ return "217a2e8e5547f4162b13a37db9cb4da4"; };
00090 
00091   };
00092 
00093 }
00094 #endif