catchrobo2022
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catchrobo2022_mbed
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VisibilityConstraint.h
00001 #ifndef _ROS_moveit_msgs_VisibilityConstraint_h 00002 #define _ROS_moveit_msgs_VisibilityConstraint_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 #include "geometry_msgs/PoseStamped.h" 00009 00010 namespace moveit_msgs 00011 { 00012 00013 class VisibilityConstraint : public ros::Msg 00014 { 00015 public: 00016 typedef double _target_radius_type; 00017 _target_radius_type target_radius; 00018 typedef geometry_msgs::PoseStamped _target_pose_type; 00019 _target_pose_type target_pose; 00020 typedef int32_t _cone_sides_type; 00021 _cone_sides_type cone_sides; 00022 typedef geometry_msgs::PoseStamped _sensor_pose_type; 00023 _sensor_pose_type sensor_pose; 00024 typedef double _max_view_angle_type; 00025 _max_view_angle_type max_view_angle; 00026 typedef double _max_range_angle_type; 00027 _max_range_angle_type max_range_angle; 00028 typedef uint8_t _sensor_view_direction_type; 00029 _sensor_view_direction_type sensor_view_direction; 00030 typedef double _weight_type; 00031 _weight_type weight; 00032 enum { SENSOR_Z = 0 }; 00033 enum { SENSOR_Y = 1 }; 00034 enum { SENSOR_X = 2 }; 00035 00036 VisibilityConstraint(): 00037 target_radius(0), 00038 target_pose(), 00039 cone_sides(0), 00040 sensor_pose(), 00041 max_view_angle(0), 00042 max_range_angle(0), 00043 sensor_view_direction(0), 00044 weight(0) 00045 { 00046 } 00047 00048 virtual int serialize(unsigned char *outbuffer) const 00049 { 00050 int offset = 0; 00051 union { 00052 double real; 00053 uint64_t base; 00054 } u_target_radius; 00055 u_target_radius.real = this->target_radius; 00056 *(outbuffer + offset + 0) = (u_target_radius.base >> (8 * 0)) & 0xFF; 00057 *(outbuffer + offset + 1) = (u_target_radius.base >> (8 * 1)) & 0xFF; 00058 *(outbuffer + offset + 2) = (u_target_radius.base >> (8 * 2)) & 0xFF; 00059 *(outbuffer + offset + 3) = (u_target_radius.base >> (8 * 3)) & 0xFF; 00060 *(outbuffer + offset + 4) = (u_target_radius.base >> (8 * 4)) & 0xFF; 00061 *(outbuffer + offset + 5) = (u_target_radius.base >> (8 * 5)) & 0xFF; 00062 *(outbuffer + offset + 6) = (u_target_radius.base >> (8 * 6)) & 0xFF; 00063 *(outbuffer + offset + 7) = (u_target_radius.base >> (8 * 7)) & 0xFF; 00064 offset += sizeof(this->target_radius); 00065 offset += this->target_pose.serialize(outbuffer + offset); 00066 union { 00067 int32_t real; 00068 uint32_t base; 00069 } u_cone_sides; 00070 u_cone_sides.real = this->cone_sides; 00071 *(outbuffer + offset + 0) = (u_cone_sides.base >> (8 * 0)) & 0xFF; 00072 *(outbuffer + offset + 1) = (u_cone_sides.base >> (8 * 1)) & 0xFF; 00073 *(outbuffer + offset + 2) = (u_cone_sides.base >> (8 * 2)) & 0xFF; 00074 *(outbuffer + offset + 3) = (u_cone_sides.base >> (8 * 3)) & 0xFF; 00075 offset += sizeof(this->cone_sides); 00076 offset += this->sensor_pose.serialize(outbuffer + offset); 00077 union { 00078 double real; 00079 uint64_t base; 00080 } u_max_view_angle; 00081 u_max_view_angle.real = this->max_view_angle; 00082 *(outbuffer + offset + 0) = (u_max_view_angle.base >> (8 * 0)) & 0xFF; 00083 *(outbuffer + offset + 1) = (u_max_view_angle.base >> (8 * 1)) & 0xFF; 00084 *(outbuffer + offset + 2) = (u_max_view_angle.base >> (8 * 2)) & 0xFF; 00085 *(outbuffer + offset + 3) = (u_max_view_angle.base >> (8 * 3)) & 0xFF; 00086 *(outbuffer + offset + 4) = (u_max_view_angle.base >> (8 * 4)) & 0xFF; 00087 *(outbuffer + offset + 5) = (u_max_view_angle.base >> (8 * 5)) & 0xFF; 00088 *(outbuffer + offset + 6) = (u_max_view_angle.base >> (8 * 6)) & 0xFF; 00089 *(outbuffer + offset + 7) = (u_max_view_angle.base >> (8 * 7)) & 0xFF; 00090 offset += sizeof(this->max_view_angle); 00091 union { 00092 double real; 00093 uint64_t base; 00094 } u_max_range_angle; 00095 u_max_range_angle.real = this->max_range_angle; 00096 *(outbuffer + offset + 0) = (u_max_range_angle.base >> (8 * 0)) & 0xFF; 00097 *(outbuffer + offset + 1) = (u_max_range_angle.base >> (8 * 1)) & 0xFF; 00098 *(outbuffer + offset + 2) = (u_max_range_angle.base >> (8 * 2)) & 0xFF; 00099 *(outbuffer + offset + 3) = (u_max_range_angle.base >> (8 * 3)) & 0xFF; 00100 *(outbuffer + offset + 4) = (u_max_range_angle.base >> (8 * 4)) & 0xFF; 00101 *(outbuffer + offset + 5) = (u_max_range_angle.base >> (8 * 5)) & 0xFF; 00102 *(outbuffer + offset + 6) = (u_max_range_angle.base >> (8 * 6)) & 0xFF; 00103 *(outbuffer + offset + 7) = (u_max_range_angle.base >> (8 * 7)) & 0xFF; 00104 offset += sizeof(this->max_range_angle); 00105 *(outbuffer + offset + 0) = (this->sensor_view_direction >> (8 * 0)) & 0xFF; 00106 offset += sizeof(this->sensor_view_direction); 00107 union { 00108 double real; 00109 uint64_t base; 00110 } u_weight; 00111 u_weight.real = this->weight; 00112 *(outbuffer + offset + 0) = (u_weight.base >> (8 * 0)) & 0xFF; 00113 *(outbuffer + offset + 1) = (u_weight.base >> (8 * 1)) & 0xFF; 00114 *(outbuffer + offset + 2) = (u_weight.base >> (8 * 2)) & 0xFF; 00115 *(outbuffer + offset + 3) = (u_weight.base >> (8 * 3)) & 0xFF; 00116 *(outbuffer + offset + 4) = (u_weight.base >> (8 * 4)) & 0xFF; 00117 *(outbuffer + offset + 5) = (u_weight.base >> (8 * 5)) & 0xFF; 00118 *(outbuffer + offset + 6) = (u_weight.base >> (8 * 6)) & 0xFF; 00119 *(outbuffer + offset + 7) = (u_weight.base >> (8 * 7)) & 0xFF; 00120 offset += sizeof(this->weight); 00121 return offset; 00122 } 00123 00124 virtual int deserialize(unsigned char *inbuffer) 00125 { 00126 int offset = 0; 00127 union { 00128 double real; 00129 uint64_t base; 00130 } u_target_radius; 00131 u_target_radius.base = 0; 00132 u_target_radius.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00133 u_target_radius.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00134 u_target_radius.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00135 u_target_radius.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00136 u_target_radius.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00137 u_target_radius.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00138 u_target_radius.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00139 u_target_radius.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00140 this->target_radius = u_target_radius.real; 00141 offset += sizeof(this->target_radius); 00142 offset += this->target_pose.deserialize(inbuffer + offset); 00143 union { 00144 int32_t real; 00145 uint32_t base; 00146 } u_cone_sides; 00147 u_cone_sides.base = 0; 00148 u_cone_sides.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00149 u_cone_sides.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00150 u_cone_sides.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00151 u_cone_sides.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00152 this->cone_sides = u_cone_sides.real; 00153 offset += sizeof(this->cone_sides); 00154 offset += this->sensor_pose.deserialize(inbuffer + offset); 00155 union { 00156 double real; 00157 uint64_t base; 00158 } u_max_view_angle; 00159 u_max_view_angle.base = 0; 00160 u_max_view_angle.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00161 u_max_view_angle.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00162 u_max_view_angle.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00163 u_max_view_angle.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00164 u_max_view_angle.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00165 u_max_view_angle.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00166 u_max_view_angle.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00167 u_max_view_angle.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00168 this->max_view_angle = u_max_view_angle.real; 00169 offset += sizeof(this->max_view_angle); 00170 union { 00171 double real; 00172 uint64_t base; 00173 } u_max_range_angle; 00174 u_max_range_angle.base = 0; 00175 u_max_range_angle.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00176 u_max_range_angle.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00177 u_max_range_angle.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00178 u_max_range_angle.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00179 u_max_range_angle.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00180 u_max_range_angle.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00181 u_max_range_angle.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00182 u_max_range_angle.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00183 this->max_range_angle = u_max_range_angle.real; 00184 offset += sizeof(this->max_range_angle); 00185 this->sensor_view_direction = ((uint8_t) (*(inbuffer + offset))); 00186 offset += sizeof(this->sensor_view_direction); 00187 union { 00188 double real; 00189 uint64_t base; 00190 } u_weight; 00191 u_weight.base = 0; 00192 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00193 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00194 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00195 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00196 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00197 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00198 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00199 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00200 this->weight = u_weight.real; 00201 offset += sizeof(this->weight); 00202 return offset; 00203 } 00204 00205 virtual const char * getType(){ return "moveit_msgs/VisibilityConstraint"; }; 00206 virtual const char * getMD5(){ return "62cda903bfe31ff2e5fcdc3810d577ad"; }; 00207 00208 }; 00209 00210 } 00211 #endif
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